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Fixes scan points frame. #45

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merged 1 commit into from
May 1, 2024
Merged

Fixes scan points frame. #45

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12 changes: 0 additions & 12 deletions andino_gz/launch/andino_gz.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@ def generate_launch_description():
ros_bridge_arg = DeclareLaunchArgument(
'ros_bridge', default_value='false', description = 'Run ROS bridge node.')
rviz_arg = DeclareLaunchArgument('rviz', default_value='false', description='Start RViz.')
jsp_gui_arg = DeclareLaunchArgument('jsp_gui', default_value='false', description='Run joint state publisher gui node.')
world_name_arg = DeclareLaunchArgument('world_name', default_value='depot.sdf', description='Name of the world to load.')

world_name = LaunchConfiguration('world_name')
Expand Down Expand Up @@ -56,15 +55,6 @@ def generate_launch_description():
condition=IfCondition(LaunchConfiguration('rviz'))
)

# Joint state publisher
jsp_gui = Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
namespace='andino',
name='joint_state_publisher_gui',
condition=IfCondition(LaunchConfiguration('jsp_gui'))
)

# Run ros_gz bridge
ros_bridge = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
Expand All @@ -77,13 +67,11 @@ def generate_launch_description():
[
# Arguments and Nodes
ros_bridge_arg,
jsp_gui_arg,
rviz_arg,
world_name_arg,
gazebo,
ros_bridge,
spawn_robot_and_rsp,
jsp_gui,
rviz,
]
)
143 changes: 105 additions & 38 deletions andino_gz/rviz/andino_gz.rviz
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Original file line number Diff line number Diff line change
@@ -1,15 +1,17 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Description Topic1
- /TF1
- /LaserScan1
Splitter Ratio: 0.5
Tree Height: 555
Tree Height: 2329
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand All @@ -27,7 +29,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
SyncSource: LaserScan
Visualization Manager:
Class: ""
Displays:
Expand Down Expand Up @@ -76,32 +78,32 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
front_left_wheel:
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel:
caster_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_motor:
caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_caster_base_link:
caster_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_caster_rotation_link:
left_motor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_caster_wheel_link:
left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Expand All @@ -111,6 +113,21 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rplidar_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
second_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Expand All @@ -128,43 +145,93 @@ Visualization Manager:
Value: true
base_link:
Value: true
front_left_wheel:
camera_link:
Value: true
front_right_wheel:
caster_base_link:
Value: true
left_motor:
caster_rotation_link:
Value: true
rear_caster_base_link:
caster_wheel_link:
Value: true
left_motor:
Value: true
rear_caster_rotation_link:
left_wheel:
Value: true
rear_caster_wheel_link:
odom:
Value: true
right_motor:
Value: true
Marker Scale: 1
right_wheel:
Value: true
rplidar_laser_link:
Value: true
second_base_link:
Value: true
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Show Names: true
Tree:
base_footprint:
base_link:
front_left_wheel:
{}
front_right_wheel:
{}
left_motor:
{}
rear_caster_base_link:
base_link:
base_footprint:
{}
camera_link:
{}
caster_base_link:
{}
caster_rotation_link:
caster_wheel_link:
{}
rear_caster_rotation_link:
rear_caster_wheel_link:
{}
right_motor:
left_motor:
{}
left_wheel:
{}
right_motor:
{}
right_wheel:
{}
second_base_link:
rplidar_laser_link:
{}
odom:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.019999999552965164
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -211,7 +278,7 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.4177922010421753
Distance: 1.4060648679733276
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Expand All @@ -226,18 +293,18 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.510398268699646
Pitch: 0.35039839148521423
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9503978490829468
Yaw: 1.0153923034667969
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Height: 2806
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001da00000a07fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006900000a070000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000014d00000a07fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006900000a070000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000137c00000051fc0100000002fb0000000800540069006d006501000000000000137c0000046000fffffffb0000000800540069006d006501000000000000045000000000000000000000103d00000a0700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -246,6 +313,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 778
Y: 278
Width: 4988
X: 132
Y: 0
1 change: 1 addition & 0 deletions andino_gz/urdf/andino_gz.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@

<gazebo reference="rplidar_laser_link">
<sensor name="sensor_ray_front" type="gpu_lidar">
<gz_frame_id>rplidar_laser_link</gz_frame_id>
<ray>
<scan>
<horizontal>
Expand Down
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