From 6438631e42554c52bafd284250827cbeba01a5e5 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Fri, 14 Jul 2017 08:51:39 +0200
Subject: [PATCH] Updated the RVIZ configuration file. Removed a no longer
needed launch fie.
---
darwin_description/config/darwin_rviz.rviz | 210 ++++++++++++++++--
.../launch/sim_track_charge_station.launch | 70 ------
2 files changed, 196 insertions(+), 84 deletions(-)
delete mode 100644 track_charge_station/launch/sim_track_charge_station.launch
diff --git a/darwin_description/config/darwin_rviz.rviz b/darwin_description/config/darwin_rviz.rviz
index 3781f56..c2de727 100644
--- a/darwin_description/config/darwin_rviz.rviz
+++ b/darwin_description/config/darwin_rviz.rviz
@@ -75,6 +75,11 @@ Visualization Manager:
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
@@ -195,6 +200,38 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
+ E1:
+ Value: true
+ E1L:
+ Value: true
+ E1R:
+ Value: true
+ N1:
+ Value: true
+ N1L:
+ Value: true
+ N1R:
+ Value: true
+ N1_cam:
+ Value: true
+ N1_det:
+ Value: true
+ S1:
+ Value: true
+ S1L:
+ Value: true
+ S1R:
+ Value: true
+ W1:
+ Value: true
+ W1L:
+ Value: true
+ W1R:
+ Value: true
+ W1_cam:
+ Value: true
+ W1_det:
+ Value: true
darwin/base_footprint:
Value: true
darwin/base_link:
@@ -203,6 +240,8 @@ Visualization Manager:
Value: true
darwin/darwin_cam_link:
Value: true
+ darwin/darwin_cam_optical_link:
+ Value: true
darwin/darwin_gyro:
Value: true
darwin/darwin_imu_link:
@@ -229,6 +268,8 @@ Visualization Manager:
Value: true
darwin/neck:
Value: true
+ darwin/odom:
+ Value: true
darwin/right_arm_high:
Value: true
darwin/right_arm_low:
@@ -247,6 +288,18 @@ Visualization Manager:
Value: true
darwin/right_shoulder:
Value: true
+ obstacle_base_fence_link:
+ Value: true
+ obstacle_base_link:
+ Value: true
+ station_connector_link:
+ Value: true
+ station_far_qr_link:
+ Value: true
+ station_near_qr_link:
+ Value: true
+ station_support_link:
+ Value: true
Marker Scale: 0.2
Name: TF
Show Arrows: true
@@ -270,15 +323,19 @@ Visualization Manager:
darwin/left_shoulder:
darwin/left_arm_high:
darwin/left_arm_low:
- darwin/base_link:
- darwin/darwin_accel:
- {}
- darwin/darwin_gyro:
{}
darwin/neck:
darwin/head:
darwin/darwin_cam_link:
- {}
+ darwin/darwin_cam_optical_link:
+ N1_cam:
+ {}
+ N1_det:
+ {}
+ W1_cam:
+ {}
+ W1_det:
+ {}
darwin/right_leg_pelvis_yaw:
darwin/right_leg_pelvis_roll:
darwin/right_leg_pelvis_pitch:
@@ -290,6 +347,41 @@ Visualization Manager:
darwin/right_arm_high:
darwin/right_arm_low:
{}
+ darwin/odom:
+ darwin/base_footprint:
+ {}
+ obstacle_base_link:
+ obstacle_base_fence_link:
+ {}
+ station_support_link:
+ station_connector_link:
+ {}
+ station_far_qr_link:
+ E1:
+ {}
+ N1:
+ {}
+ S1:
+ {}
+ W1:
+ {}
+ station_near_qr_link:
+ E1L:
+ {}
+ E1R:
+ {}
+ N1L:
+ {}
+ N1R:
+ {}
+ S1L:
+ {}
+ S1R:
+ {}
+ W1L:
+ {}
+ W1R:
+ {}
Update Interval: 0
Value: true
- Alpha: 1
@@ -298,12 +390,102 @@ Visualization Manager:
Enabled: true
Links:
All Links Enabled: true
+ E1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E1L:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ E1R:
+ 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
+ N1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N1L:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ N1R:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S1L:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ S1R:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W1L:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ W1R:
+ 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
+ station_connector_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ station_far_qr_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ station_near_qr_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ station_support_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Environment
- Robot Description: obstacles_environment
+ Robot Description: /charge_env/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
@@ -311,7 +493,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
- Fixed Frame: darwin/base_link
+ Fixed Frame: obstacle_base_link
Frame Rate: 30
Name: root
Tools:
@@ -339,15 +521,15 @@ Visualization Manager:
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.625211
- Y: -0.0443803
- Z: 0.189017
+ X: 0.6497
+ Y: 0.53254
+ Z: 0.117795
Name: Current View
Near Clip Distance: 0.01
- Pitch: 0.224797
+ Pitch: 1.0202
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 5.70045
+ Yaw: 2.80226
Saved: ~
Window Geometry:
Displays:
@@ -365,5 +547,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1215
- X: 65
- Y: 24
+ X: 55
+ Y: 14
diff --git a/track_charge_station/launch/sim_track_charge_station.launch b/track_charge_station/launch/sim_track_charge_station.launch
deleted file mode 100644
index 34c2c0c..0000000
--- a/track_charge_station/launch/sim_track_charge_station.launch
+++ /dev/null
@@ -1,70 +0,0 @@
-
-<launch>
-
- <arg name="robot" default="darwin" />
- <arg name="environment" default="vision_env" />
-
- <include file="$(find darwin_description)/launch/darwin_sim.launch">
- <arg name="robot" value="$(arg robot)" />
- </include>
-
- <include file="$(find bioloid_description)/launch/vision_env.launch">
- <arg name="environment" value="$(arg environment)" />
- </include>
-
-
- <!-- launch the QR head tracking node -->
- <node name="track_charge_station"
- pkg="track_charge_station"
- type="track_charge_station"
- output="screen"
- ns="/darwin">
- <remap from="/darwin/track_charge_station/cmd_vel"
- to="/darwin/robot/cmd_vel"/>
- <remap from="/darwin/track_charge_station/set_pan_pid"
- to="/darwin/robot/set_pan_pid"/>
- <remap from="/darwin/track_charge_station/set_walk_params"
- to="/darwin/robot/set_walk_params"/>
- <remap from="/darwin/track_charge_station/set_servo_modules"
- to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/head_follow_target"
- to="/darwin/robot/head_follow_target"/>
- <remap from="/darwin/track_charge_station/head_target"
- to="/darwin/robot/head_target"/>
- <remap from="/darwin/track_charge_station/joint_states"
- to="/darwin/joint_states"/>
- <!-- <remap from="/darwin/track_charge_station/qr_pose"
- to="/qr_detector/qr_pose"/> -->
- </node>
-
-<!-- <include file="$(find qr_detector)/launch/tracker_darwin.launch"/> -->
-<<<
- <node pkg="qr_detector"
- name="qr_detector"
- type="qr_detector"
- output="screen"
- ns="/darwin">
- <param name="qr_x" value="0.12"/>
- <param name="qr_y" value="0.12"/>
- <param name="camera_frame" value="/darwin/camera_link"/>
- <remap from="/darwin/qr_detector/camera/image_raw"
- to="/darwin/camera/image_raw"/>
- <remap from="/darwin/qr_detector/camera/camera_info"
- to="/darwin/camera/camera_info"/>
- <remap from="/darwin/qr_detector/qr_pose"
- to="/darwin/track_charge_station/qr_pose"/>
- </node>
-
-
- <node pkg="image_view"
- name="image_view"
- type="image_view"
- args="image:=/darwin/usb_cam/image_raw">
- </node>
-
- <!-- launch dynamic reconfigure -->
- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
- output="screen"/>
-
-
-</launch>
\ No newline at end of file
--
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