diff --git a/darwin_apps/launch/nav_client_sim.launch b/darwin_apps/launch/nav_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..02b718798fa908a31ee459836dbd8ace358d7e3a
--- /dev/null
+++ b/darwin_apps/launch/nav_client_sim.launch
@@ -0,0 +1,61 @@
+<launch>
+
+ <arg name="robot" default="darwin" />
+ <arg name="environment" default="obstacles_env_empty" />
+
+ <include file="$(find darwin_description)/launch/darwin_sim.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <include file="$(find bioloid_description)/launch/obstacles_env.launch">
+ <arg name="environment" value="$(arg environment)" />
+ </include>
+
+ <include file="$(find darwin_nav)/launch/darwin_global_loc_sim.launch"/>
+
+ <!-- Move Base -->
+ <node pkg="move_base"
+ type="move_base"
+ name="move_base"
+ output="screen">
+ <remap from="cmd_vel" to="/darwin/robot/cmd_vel"/>
+ <remap from="odom" to="/darwin/robot/odom"/>
+ <!-- Main parameters -->
+ <rosparam file="$(find darwin_nav)/config/move_base_params.yaml" command="load"/>
+ <!-- LOCAL PLANNER -->
+ <rosparam file="$(find darwin_nav)/config/dwa_local_planner_params.yaml" command="load"/>
+ <rosparam file="$(find darwin_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
+ <rosparam file="$(find darwin_nav)/config/local_costmap_params.yaml" command="load" ns="local_costmap"/>
+ <!-- GLOBAL PLANNER -->
+ <rosparam file="$(find darwin_nav)/config/global_planner_params.yaml" command="load"/>
+ <rosparam file="$(find darwin_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
+ <rosparam file="$(find darwin_nav)/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
+ </node>
+
+ <!-- launch the navigation client node -->
+ <node name="nav_client"
+ pkg="nav_client"
+ type="nav_client"
+ output="screen"
+ ns="/darwin">
+ <remap from="/darwin/nav_client/nav_client/nav_module/"
+ to="/move_base"/>
+ <remap from="/darwin/nav_client/nav_client/set_servo_modules"
+ to="/darwin/robot/set_servo_modules"/>
+ <remap from="/darwin/nav_client/nav_client/set_walk_params"
+ to="/darwin/robot/set_walk_params"/>
+ <remap from="/darwin/nav_client/nav_client/get_walk_params"
+ to="/darwin/robot/get_walk_params"/>
+ <remap from="/darwin/nav_client/nav_client/joint_states"
+ to="/darwin/joint_states"/>
+ <remap from="/darwin/nav_client/nav_client/fallen_state"
+ to="/darwin/robot/fallen_state"/>
+
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
+
diff --git a/darwin_nav/config/darwin_nav.rviz b/darwin_nav/config/darwin_nav.rviz
index de4a4bf93b06235b15c8bcf246747e3e7707a649..693ab40692e2ab0af006a7b0228a513e4c8d4a42 100644
--- a/darwin_nav/config/darwin_nav.rviz
+++ b/darwin_nav/config/darwin_nav.rviz
@@ -53,18 +53,146 @@ Visualization Manager:
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
- Enabled: false
+ Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ darwin_accel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ darwin_cam_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ darwin_cam_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ darwin_gyro:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ darwin_imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm_high:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm_low:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_ankle_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_ankle_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_knee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_pelvis_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_pelvis_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_leg_pelvis_yaw:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_shoulder:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ neck:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm_high:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm_low:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_ankle_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_ankle_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_knee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_pelvis_pitch:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_pelvis_roll:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_leg_pelvis_yaw:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_shoulder:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: /darwin
Update Interval: 0
- Value: false
+ Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
@@ -83,12 +211,28 @@ Visualization Manager:
Value: true
N125:
Value: true
+ N125_cam:
+ Value: true
+ N125_det:
+ Value: true
N175:
Value: true
+ N175_cam:
+ Value: true
+ N175_det:
+ Value: true
N25:
Value: true
+ N25_cam:
+ Value: true
+ N25_det:
+ Value: true
N75:
Value: true
+ N75_cam:
+ Value: true
+ N75_det:
+ Value: true
S125:
Value: true
S175:
@@ -234,7 +378,22 @@ Visualization Manager:
darwin/head:
darwin/darwin_cam_link:
darwin/darwin_cam_optical_link:
- {}
+ N125_cam:
+ {}
+ N125_det:
+ {}
+ N175_cam:
+ {}
+ N175_det:
+ {}
+ N25_cam:
+ {}
+ N25_det:
+ {}
+ N75_cam:
+ {}
+ N75_det:
+ {}
darwin/right_leg_pelvis_yaw:
darwin/right_leg_pelvis_roll:
darwin/right_leg_pelvis_pitch:
@@ -253,18 +412,118 @@ Visualization Manager:
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
- Enabled: false
+ Enabled: true
Links:
All Links Enabled: true
+ E125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E225:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ N125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W125:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W175:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W225:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W25:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W75:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ obstacle_base_fence_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ obstacle_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Environment
Robot Description: obstacles_environment
TF Prefix: ""
Update Interval: 0
- Value: false
+ Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: false
@@ -389,22 +648,22 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 10
+ Distance: 5.08288
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: 1.38816
+ Y: 1.12817
+ Z: 1.12501
Name: Current View
Near Clip Distance: 0.01
- Pitch: 0.785398
+ Pitch: 0.505398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 0.785398
+ Yaw: 0.375398
Saved: ~
Window Geometry:
Displays:
@@ -424,5 +683,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1207
- X: 65
- Y: 24
+ X: 55
+ Y: 14