From 9899c7470f98d8fb382302c7ea1c7fc5cec9ffb9 Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Fri, 10 Nov 2023 15:26:29 +0900 Subject: [PATCH] =?UTF-8?q?README=E6=9B=B4=E6=96=B0=20(#10)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * update_readme * tfの表示 * 誤字修正 --- README.en.md | 25 ++++++---- README.md | 25 ++++++---- launch/display.rviz | 112 +++++++++++++++++++++++++++++++++++++++++++- 3 files changed, 141 insertions(+), 21 deletions(-) diff --git a/README.en.md b/README.en.md index 16967e0..1342b75 100644 --- a/README.en.md +++ b/README.en.md @@ -2,9 +2,9 @@ # sciurus17_description -[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=main)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml) +[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml) -ROS package with URDF description macro for [Sciurus17](https://rt-net.jp/products/sciurus17/). +ROS 2 package with URDF description macro for [Sciurus17](https://rt-net.jp/products/sciurus17/). This ROS packages was separated from [rt-net/sciurus17_ros](https://github.com/rt-net/sciurus17_ros). @@ -12,21 +12,26 @@ See [rt-net/sciurus17_ros#134](https://github.com/rt-net/sciurus17_ros/issues/13 ## Supported ROS distributions -- Melodic -- Noetic +- Humble + +### ROS 1 + +- [Melodic](https://github.com/rt-net/sciurus17_ros/tree/master) +- [Noetic](https://github.com/rt-net/sciurus17_ros/tree/master) ## Installation ```sh # Clone sciurus17_description and install dependencies -cd ~/catkin_ws/src -git clone https://github.com/rt-net/sciurus17_description +mkdir -p ~/ros2_ws/src +cd ~/ros2_ws/src +git clone -b ros2 https://github.com/rt-net/sciurus17_description rosdep install -r -y -i --from-paths . # Build the package -cd ~/catkin_ws -catkin_make -source devel/setup.bash +cd ~/ros2_ws +colcon build --symlink-install +source install/setup.bash ``` ## How to Use @@ -34,7 +39,7 @@ source devel/setup.bash Display a CRANE-X7 robot model on RViz with the following command: ```sh -roslaunch sciurus17_description display.launch +ros2 launch sciurus17_description display.launch.py ``` ![display_launch](https://rt-net.github.io/images/sciurus17/display_launch.png) diff --git a/README.md b/README.md index 7a17d6c..43a7768 100644 --- a/README.md +++ b/README.md @@ -2,9 +2,9 @@ # sciurus17_description -[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=main)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml) +[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml) -[Sciurus17](https://rt-net.jp/products/sciurus17/)のURDFファイルを含むROSパッケージです。 +[Sciurus17](https://rt-net.jp/products/sciurus17/)のURDFファイルを含むROS 2パッケージです。 このROSパッケージは[rt-net/sciurus17_ros](https://github.com/rt-net/sciurus17_ros)から分離しました。 @@ -12,21 +12,26 @@ ## サポートするROSディストリビューション -- Melodic -- Noetic +- Humble + +### ROS 1 + +- [Melodic](https://github.com/rt-net/sciurus17_ros/tree/master) +- [Noetic](https://github.com/rt-net/sciurus17_ros/tree/master) ## インストール方法 ```sh # 本パッケージをクローンし、依存関係をインストールする -cd ~/catkin_ws/src -git clone https://github.com/rt-net/sciurus17_description +mkdir -p ~/ros2_ws/src +cd ~/ros2_ws/src +git clone -b ros2 https://github.com/rt-net/sciurus17_description rosdep install -r -y -i --from-paths . # パッケージをビルドする -cd ~/catkin_ws -catkin_make -source devel/setup.bash +cd ~/ros2_ws +colcon build --symlink-install +source install/setup.bash ``` ## 使用方法 @@ -34,7 +39,7 @@ source devel/setup.bash 次のコマンドを実行するとRViz上にSciurus17のモデルが表示されます ```sh -roslaunch sciurus17_description display.launch +ros2 launch sciurus17_description display.launch.py ``` ![display_launch](https://rt-net.github.io/images/sciurus17/display_launch.png) diff --git a/launch/display.rviz b/launch/display.rviz index f69a7ca..28a0877 100644 --- a/launch/display.rviz +++ b/launch/display.rviz @@ -216,6 +216,116 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + body_link: + Value: true + chest_camera_link: + Value: true + dummy_mimic_fix_l: + Value: true + dummy_mimic_fix_r: + Value: true + head_camera_link: + Value: true + l_gripperA_link: + Value: true + l_gripperB_link: + Value: true + l_link1: + Value: true + l_link2: + Value: true + l_link3: + Value: true + l_link4: + Value: true + l_link5: + Value: true + l_link5_armarker: + Value: true + l_link6: + Value: true + l_link7: + Value: true + neck_pitch_link: + Value: true + neck_yaw_link: + Value: true + r_gripperA_link: + Value: true + r_gripperB_link: + Value: true + r_link1: + Value: true + r_link2: + Value: true + r_link3: + Value: true + r_link4: + Value: true + r_link5: + Value: true + r_link5_armarker: + Value: true + r_link6: + Value: true + r_link7: + Value: true + world: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + base_link: + body_link: + chest_camera_link: + {} + l_link1: + l_link2: + l_link3: + l_link4: + l_link5: + l_link5_armarker: + {} + l_link6: + l_link7: + l_gripperA_link: + {} + l_gripperB_link: + {} + neck_yaw_link: + neck_pitch_link: + head_camera_link: + {} + r_link1: + r_link2: + r_link3: + r_link4: + r_link5: + r_link5_armarker: + {} + r_link6: + r_link7: + r_gripperA_link: + {} + r_gripperB_link: + {} + dummy_mimic_fix_l: + {} + dummy_mimic_fix_r: + {} + Update Interval: 0 + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -271,7 +381,7 @@ Visualization Manager: Focal Point: X: 0 Y: 0 - Z: 0 + Z: 0.30000001192092896 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false