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Commit c624617a authored by Sergi Hernandez's avatar Sergi Hernandez
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Added arguments to the main launch file to enable/disable the use of the IMU and Joystick. 

Updated the RVIZ file.
parent 21ec222b
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launch/test.launch
+ 15
− 10
View file @ c624617a
......@@ -6,6 +6,8 @@
<arg name="launch_prefix" default="" />
<arg name="device" default="/dev/input/js0" />
<arg name="rviz" default="true" />
<arg name="use_joy" default="false" />
<arg name="use_imu" default="false" />
<include file="$(find arm_description)/launch/description.launch">
<arg name="namespace" value="$(arg namespace)"/>
......@@ -29,20 +31,23 @@
type="joy_node"
name="joy_node"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
launch-prefix="$(arg launch_prefix)"
if="$(arg use_joy)">
<rosparam file="$(find arm_bringup)/config/$(arg namespace)_ps3_cable_teleop.yaml" command="load" />
<param name="dev" value="$(arg device)" />
</node>
<include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
<arg name="config_file" value="$(find arm_bringup)/config/$(arg namespace)_bno055.yaml"/>
<arg name="calibration_file" value="$(find arm_bringup)/calibration/bno055.cal"/>
<arg name="node_name" value="bno055_imu"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="imu_topic" default="$(arg namespace)/imu"/>
<arg name="mag_topic" default="$(arg namespace)/magnetometer"/>
</include>
<group if="$(arg use_imu)">
<include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
<arg name="config_file" value="$(find arm_bringup)/config/$(arg namespace)_bno055.yaml"/>
<arg name="calibration_file" value="$(find arm_bringup)/calibration/bno055.cal"/>
<arg name="node_name" value="bno055_imu"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="imu_topic" default="$(arg namespace)/imu"/>
<arg name="mag_topic" default="$(arg namespace)/magnetometer"/>
</include>
</group>
<node name="rqt_reconfigure"
pkg ="rqt_reconfigure"
......
rviz/arm2.rviz
+ 20
− 15
View file @ c624617a
......@@ -9,7 +9,7 @@ Panels:
- /TF1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 565
Tree Height: 728
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -18,7 +18,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
......@@ -29,6 +29,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
......@@ -40,7 +42,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
......@@ -73,7 +75,7 @@ Visualization Manager:
Value: true
arm2/world:
Value: true
Marker Scale: 0.200000003
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
......@@ -158,7 +160,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
......@@ -168,9 +173,9 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 10
Distance: 0.9501243829727173
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
......@@ -179,22 +184,22 @@ Visualization Manager:
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b80000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......@@ -203,6 +208,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 65
Y: 60
Width: 1853
X: 67
Y: 27
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