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Update "wrp_ros2" Compatibility and Sensor Visualization Configurations #18

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Update "wrp_ros2" Compatibility and Sensor Visualization Configurations #18

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d3ccb29
Update the new naming of 'wrp_ros2' packages in launch and xml files
Apr 2, 2025
2b8ff65
Add rviz2 configuration
Apr 2, 2025
d198223
Update the README of 'w200d_sensor_kit_bringup' package
Apr 2, 2025
2d96512
Update the driver packages installation list
Apr 2, 2025
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2 changes: 1 addition & 1 deletion navigation.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ repositories:
drivers/wrp_ros2:
type: git
url: https://github.com/westonrobot/wrp_ros2.git
version: 30431fd002b7e0a67c295bbf87ab1dc9d5cbb7ee
version: 34fd3642a42290fe809679de36fac1914774f374
drivers/realsense-ros:
type: git
url: https://github.com/IntelRealSense/realsense-ros.git
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4 changes: 3 additions & 1 deletion src/kits/base/w200d_sensor_kit_bringup/README.md
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Expand Up @@ -39,4 +39,6 @@ To better suit your needs/setup, you may need to adjust these accordingly

## Notes
The numbering is based on the physical sensor's position on the robot.
The sensors are numbered from 0 to 7, starting from the front-facing front right sensor and going anti-clockwise.
The sensors are numbered from 0 to 7, starting from the front-facing front right sensor and going anti-clockwise.

![Ultrasonic Sensor Data Visualization](docs/ultrasonic_data_visualization.gif)
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2 changes: 1 addition & 1 deletion src/kits/base/w200d_sensor_kit_bringup/launch/sensor_kit.launch.py
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Expand Up @@ -72,7 +72,7 @@ def launch_setup(context, *args, **kwargs):
# --------- Drivers ---------

ultrasonic_bringup = Node(
package="wrp_ros2",
package="wrp_sdk_periph",
name="ultrasonic_sensor_node",
executable="ultrasonic_sensor_node",
output="screen",
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8 changes: 6 additions & 2 deletions src/kits/base/w200d_sensor_kit_bringup/package.xml
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Expand Up @@ -11,8 +11,12 @@

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<exec_depend>wrp_ros2</exec_depend>

<!-- <exec_depend>wrp_ros2</exec_depend> -->
<exec_depend>wrp_sdk_periph</exec_depend>
<exec_depend>wrp_sdk_msgs</exec_depend>
<exec_depend>wrp_sdk_robot</exec_depend>

<exec_depend>xacro</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>

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299 changes: 299 additions & 0 deletions src/kits/base/w200d_sensor_kit_bringup/rviz/ultrasonic_sensors.rviz
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@@ -0,0 +1,299 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Ultrasonics1
Splitter Ratio: 0.5169491767883301
Tree Height: 719
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_common/Group
Displays:
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 0
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_0
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 1
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_1
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 2
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_2
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 3
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_3
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 4
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_4
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 5
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_5
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 6
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_6
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz_default_plugins/Range
Color: 255; 255; 255
Enabled: true
Name: Range 7
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /ultrasonic_sensor_node/ultrasonic_7
Value: true
Enabled: true
Name: Ultrasonics
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: true
ultrasonic_link_0:
Value: true
ultrasonic_link_1:
Value: true
ultrasonic_link_2:
Value: true
ultrasonic_link_3:
Value: true
ultrasonic_link_4:
Value: true
ultrasonic_link_5:
Value: true
ultrasonic_link_6:
Value: true
ultrasonic_link_7:
Value: true
w200d_sensor_kit_base_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
w200d_sensor_kit_base_link:
ultrasonic_link_0:
{}
ultrasonic_link_1:
{}
ultrasonic_link_2:
{}
ultrasonic_link_3:
{}
ultrasonic_link_4:
{}
ultrasonic_link_5:
{}
ultrasonic_link_6:
{}
ultrasonic_link_7:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 61; 56; 70
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/ThirdPersonFollower
Distance: 3.8767995834350586
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.8365460634231567
Y: 0.09554874897003174
Z: 0.7454765439033508
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 3.1374034881591797
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000002500000035afc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200520047004200200049006d0061006700650020002800460072006f006e0074002900000001fc000000c90000000000000000fb000000260044006500700074006800200049006d0061006700650020002800460072006f006e0074002900000002cb000000cc0000000000000000fb0000000c00430061006d00650072006100000002d0000000c70000000000000000fb0000000a0049006d0061006700650100000163000001110000000000000000fb0000000a0049006d00610067006501000002d0000000c70000000000000000fb0000000a0049006d006100670065010000027a0000011d0000000000000000000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004e40000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1850
X: 70
Y: 27
6 changes: 5 additions & 1 deletion src/kits/top/mid360_sensor_kit_bringup/package.xml
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Expand Up @@ -12,7 +12,11 @@
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<exec_depend>wrp_ros2</exec_depend>
<!-- <exec_depend>wrp_ros2</exec_depend> -->
<exec_depend>wrp_sdk_periph</exec_depend>
<exec_depend>wrp_sdk_msgs</exec_depend>
<exec_depend>wrp_sdk_robot</exec_depend>

<exec_depend>livox_ros_driver2</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
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