Updates docs

Signed-off-by: Franco Cipollone <[email protected]>
Ekumen-OS · May 3, 2024 · 5894d05 · 5894d05
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diff --git a/README.md b/README.md
@@ -74,13 +74,13 @@ Also, consider using looking at the translation entries under `andino_gz/config/
   This simulation also support multi robot simulation.
 
   ```sh
-  ros2 launch andino_gz andino_gz.launch.py robots:="\
-       andino1={x: 0.0, y: 0., z: 0.1, yaw: 0.};\
-       andino2={x: 0.4, y: 0., z: 0.1, yaw: 0.};\
-       andino3={x: 0.8, y: 0., z: 0.1, yaw: 0.};\
-       andino4={x: 1.2, y: 0., z: 0.1, yaw: 0.};\
-       andino5={x: 1.6, y: 0., z: 0.1, yaw: 0.};\
-       andino6={x: 2.0, y: 0., z: 0.1, yaw: 0.};"
+  ros2 launch andino_gz andino_gz.launch.py robots:="
+       andino1={x: 0.0, y: 0.0, z: 0.1, yaw: 0.};
+       andino2={x: -0.4, y: 0.1, z: 0.1, yaw: 0.};
+       andino3={x: -0.4, y: -0.1, z: 0.1, yaw: 0.};
+       andino4={x: -0.8, y: 0.2, z: 0.1, yaw: 0.};
+       andino5={x: -0.8, y: -0.2, z: 0.1, yaw: 0.};
+       andino6={x: -0.8, y: 0.0, z: 0.1, yaw: 0.};"
   ```
 
   _Note: You can add as many as you want_

diff --git a/andino_gz/rviz/andino_gz.rviz b/andino_gz/rviz/andino_gz.rviz
@@ -9,9 +9,9 @@ Panels:
         - /RobotModel1
         - /RobotModel1/Description Topic1
         - /TF1
-        - /LaserScan1
+        - /Image1
       Splitter Ratio: 0.5
-    Tree Height: 838
+    Tree Height: 2329
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -232,6 +232,20 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: image_raw
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -296,23 +310,25 @@ Visualization Manager:
       Pitch: 0.35039839148521423
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 1.0153923034667969
+      Yaw: 1.0203922986984253
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1216
+  Height: 1113
   Hide Left Dock: true
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001da00000434fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000069000004340000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000014d000003d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000003d10000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065800000051fc0100000002fb0000000800540069006d00650100000000000006580000046000fffffffb0000000800540069006d0065010000000000000450000000000000000000000658000003d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000002eb00000a07fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000006900000a070000017800fffffffb0000000a0056006900650077007300000009410000012f0000012300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000028000000153000000000000000000000001000001ca0000036afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc000000690000036a0000004500fffffffa000000000100000002fb0000000a0049006d0061006700650100000000ffffffff0000008c00fffffffb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005fc00000051fc0100000002fb0000000800540069006d00650100000000000005fc0000046000fffffffb0000000800540069006d00650100000000000004500000000000000000000004260000036a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: true
-  Width: 1624
-  X: 2763
-  Y: 125
+    collapsed: false
+  Width: 1532
+  X: 2945
+  Y: 441
diff --git a/andino_gz/urdf/andino_gz.urdf.xacro b/andino_gz/urdf/andino_gz.urdf.xacro
@@ -80,6 +80,7 @@
 
   <gazebo reference="camera_link">
     <sensor name="camera" type="camera">
+      <gz_frame_id>camera_link</gz_frame_id>
       <camera>
         <horizontal_fov>1.047</horizontal_fov>
         <image>

diff --git a/andino_gz/worlds/depot.sdf b/andino_gz/worlds/depot.sdf
@@ -34,7 +34,7 @@
         <scene>scene</scene>
         <ambient_light>0.4 0.4 0.4</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>
-        <camera_pose>-0.7 0.7 0.7 0 0.3 -0.3</camera_pose>
+        <camera_pose>-1.7 0.7 0.7 0 0.3 -0.3</camera_pose>
       </plugin>
 
       <!-- Play / pause / step -->

diff --git a/docs/media/andino_gz_multi_robot.png b/docs/media/andino_gz_multi_robot.png