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SimonR99SimonR99
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add real imu + lidar mapping
1 parent 2ab3ade commit 404d289

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11 files changed

+67
-275
lines changed

11 files changed

+67
-275
lines changed

‎src/rove_bringup/config/VLP16_velodyne_params.yaml

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ velodyne_driver_node:
88
read_once: false
99
read_fast: false
1010
repeat_delay: 0.0
11-
frame_id: velodyne
11+
frame_id: velodyne_laser
1212
model: VLP16
1313
rpm: 600.0
1414
port: 2368
@@ -25,6 +25,6 @@ velodyne_transform_node:
2525
min_range: 0.9
2626
max_range: 130.0
2727
view_direction: 0.0
28-
fixed_frame: ""
29-
target_frame: ""
28+
fixed_frame: "base_link"
29+
target_frame: "velodyne_laser"
3030
organize_cloud: true

‎src/rove_bringup/config/vn_300.yaml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -94,7 +94,7 @@ vectornav:
9494
attitudeField: 0x0000 # ATTITUDEGROUP_NONE
9595
insField: 0x0000 # INSGROUP_NONE
9696
gps2Field: 0x0000 # GPSGROUP_NONE
97-
frame_id: "vectornav"
97+
frame_id: "sensor_link"
9898

9999
vn_sensor_msgs:
100100
ros__parameters:

‎src/rove_bringup/launch/real.launch.py

Lines changed: 15 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -107,11 +107,24 @@ def create_controller_node(node_name:str):
107107
# )
108108
# )
109109

110+
###### Sensor ######
111+
vectornav = IncludeLaunchDescription(
112+
PythonLaunchDescriptionSource(
113+
os.path.join(pkg_rove_bringup, "launch", "vectornav.launch.py"),
114+
),
115+
)
116+
117+
velodyne = IncludeLaunchDescription(
118+
PythonLaunchDescriptionSource(
119+
os.path.join(pkg_rove_bringup, "launch", "velodyne.launch.py"),
120+
),
121+
)
122+
110123
return LaunchDescription([
111124
control_node,
112125
common,
113126
joint_state_broadcaster_spawner,
114127
*delayed_controller_nodes,
115-
# vectornav,
116-
# velodyne,
128+
vectornav,
129+
velodyne,
117130
])

‎src/rove_description/config/basic.rviz

Lines changed: 39 additions & 96 deletions
Original file line numberDiff line numberDiff line change
@@ -3,8 +3,7 @@ Panels:
33
Help Height: 78
44
Name: Displays
55
Property Tree Widget:
6-
Expanded:
7-
- /RobotModel1/Status1
6+
Expanded: ~
87
Splitter Ratio: 0.5
98
Tree Height: 517
109
- Class: rviz_common/Selection
@@ -71,60 +70,37 @@ Visualization Manager:
7170
Show Axes: false
7271
Show Trail: false
7372
Value: true
74-
rove_end_effector:
75-
Alpha: 1
76-
Show Axes: false
77-
Show Trail: false
78-
rove_link_1:
79-
Alpha: 1
80-
Show Axes: false
81-
Show Trail: false
82-
Value: true
83-
rove_link_2:
84-
Alpha: 1
85-
Show Axes: false
86-
Show Trail: false
87-
Value: true
88-
rove_link_3:
89-
Alpha: 1
90-
Show Axes: false
91-
Show Trail: false
92-
Value: true
93-
rove_link_4:
73+
sensor_link:
9474
Alpha: 1
9575
Show Axes: false
9676
Show Trail: false
9777
Value: true
98-
rove_link_5:
78+
track_fl:
9979
Alpha: 1
10080
Show Axes: false
10181
Show Trail: false
102-
Value: true
103-
rove_link_6:
82+
track_fr:
10483
Alpha: 1
10584
Show Axes: false
10685
Show Trail: false
107-
Value: true
108-
rove_link_base:
86+
track_l:
10987
Alpha: 1
11088
Show Axes: false
11189
Show Trail: false
11290
Value: true
113-
sensor_link:
91+
track_r:
11492
Alpha: 1
11593
Show Axes: false
11694
Show Trail: false
11795
Value: true
118-
track_l:
96+
track_rl:
11997
Alpha: 1
12098
Show Axes: false
12199
Show Trail: false
122-
Value: true
123-
track_r:
100+
track_rr:
124101
Alpha: 1
125102
Show Axes: false
126103
Show Trail: false
127-
Value: true
128104
velodyne_laser:
129105
Alpha: 1
130106
Show Axes: false
@@ -176,9 +152,9 @@ Visualization Manager:
176152
Enabled: true
177153
Invert Rainbow: false
178154
Max Color: 255; 255; 255
179-
Max Intensity: 0
155+
Max Intensity: 125
180156
Min Color: 0; 0; 0
181-
Min Intensity: 0
157+
Min Intensity: 1
182158
Name: LaserScan
183159
Position Transformer: XYZ
184160
Selectable: true
@@ -202,40 +178,20 @@ Visualization Manager:
202178
All Enabled: false
203179
base_link:
204180
Value: true
205-
flipper_fl:
206-
Value: true
207-
flipper_fr:
208-
Value: true
209-
flipper_rl:
210-
Value: true
211-
flipper_rr:
212-
Value: true
213-
map:
214-
Value: true
215-
odom:
216-
Value: true
217-
rove_end_effector:
218-
Value: true
219-
rove_link_1:
220-
Value: true
221-
rove_link_2:
222-
Value: true
223-
rove_link_3:
224-
Value: true
225-
rove_link_4:
226-
Value: true
227-
rove_link_5:
228-
Value: true
229-
rove_link_6:
181+
sensor_link:
230182
Value: true
231-
rove_link_base:
183+
track_fl:
232184
Value: true
233-
sensor_link:
185+
track_fr:
234186
Value: true
235187
track_l:
236188
Value: true
237189
track_r:
238190
Value: true
191+
track_rl:
192+
Value: true
193+
track_rr:
194+
Value: true
239195
velodyne_laser:
240196
Value: true
241197
velodyne_link:
@@ -246,35 +202,22 @@ Visualization Manager:
246202
Show Axes: true
247203
Show Names: false
248204
Tree:
249-
map:
250-
odom:
251-
base_link:
252-
flipper_fl:
253-
{}
254-
flipper_fr:
255-
{}
256-
flipper_rl:
257-
{}
258-
flipper_rr:
259-
{}
260-
rove_link_base:
261-
rove_link_1:
262-
rove_link_2:
263-
rove_link_3:
264-
rove_link_4:
265-
rove_link_5:
266-
rove_link_6:
267-
rove_end_effector:
268-
{}
269-
sensor_link:
270-
{}
271-
track_l:
272-
{}
273-
track_r:
274-
{}
275-
velodyne_link:
276-
velodyne_laser:
277-
{}
205+
base_link:
206+
sensor_link:
207+
{}
208+
track_l:
209+
track_fl:
210+
{}
211+
track_rl:
212+
{}
213+
track_r:
214+
track_fr:
215+
{}
216+
track_rr:
217+
{}
218+
velodyne_link:
219+
velodyne_laser:
220+
{}
278221
Update Interval: 0
279222
Value: true
280223
- Alpha: 0.699999988079071
@@ -382,7 +325,7 @@ Visualization Manager:
382325
y_scale: 1
383326
z_scale: 1
384327
Class: rviz_imu_plugin/Imu
385-
Enabled: false
328+
Enabled: true
386329
Name: Imu
387330
Topic:
388331
Depth: 5
@@ -391,12 +334,12 @@ Visualization Manager:
391334
History Policy: Keep Last
392335
Reliability Policy: Reliable
393336
Value: /imu
394-
Value: false
337+
Value: true
395338
fixed_frame_orientation: true
396339
Enabled: true
397340
Global Options:
398341
Background Color: 48; 48; 48
399-
Fixed Frame: map
342+
Fixed Frame: base_link
400343
Frame Rate: 30
401344
Name: root
402345
Tools:
@@ -439,7 +382,7 @@ Visualization Manager:
439382
Views:
440383
Current:
441384
Class: rviz_default_plugins/Orbit
442-
Distance: 15.358924865722656
385+
Distance: 7.311348915100098
443386
Enable Stereo Rendering:
444387
Stereo Eye Separation: 0.05999999865889549
445388
Stereo Focal Distance: 1
@@ -454,10 +397,10 @@ Visualization Manager:
454397
Invert Z Axis: false
455398
Name: Current View
456399
Near Clip Distance: 0.009999999776482582
457-
Pitch: 0.900398313999176
400+
Pitch: 1.0553982257843018
458401
Target Frame: <Fixed Frame>
459402
Value: Orbit (rviz)
460-
Yaw: 5.728583812713623
403+
Yaw: 4.913582801818848
461404
Saved: ~
462405
Window Geometry:
463406
Displays:

‎src/rove_description/package.xml

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
1010
<exec_depend>rviz2</exec_depend>
1111
<exec_depend>xacro</exec_depend>
1212
<exec_depend>velodyne_description</exec_depend>
13+
<exec_depend>rviz_imu_plugin</exec_depend>
1314

1415
<buildtool_depend>ament_cmake</buildtool_depend>
1516

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