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Commit 64f912e9 authored by Fernando Herrero's avatar Fernando Herrero
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Update sample launch and add rviz

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config/pioneer3_sim_config.yaml
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− 1
View file @ 64f912e9
......@@ -6,7 +6,7 @@ rear_left_axle_joint: base_link_to_rear_left_axle_joint
rear_right_axle_joint: base_link_to_rear_right_axle_joint
wheel_separation: 0.4
wheel_diameter: 0.215
robot_base_frame: 'base_link'
robot_base_frame: 'base_footprint'
torque: 20
cov_x: 0.0001
cov_y: 0.0001
......
launch/sim_sample.launch
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− 5
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="ns" default="robot"/>
<arg name="world" default="$(find iri_gazebo_worlds)/worlds/empty.world"/>
<arg name="rviz" default="false"/>
<arg name="gui" default="true"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="extra_gazebo_args" value=""/>
<arg name="gui" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="recording" value="false"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="physics" value="ode"/>
<arg name="verbose" value="false"/>
<arg name="world_name" value="worlds/empty.world"/>
<arg name="world_name" value="$(arg world)"/>
<arg name="respawn_gazebo" value="false"/>
<arg name="use_clock_frequency" value="false"/>
<arg name="pub_clock_frequency" value="100"/>
</include>
<include file="$(find iri_skid_steering_gazebo)/launch/spawn_pioneer3.launch">
<arg name="name" value="pio"/>
<include file="$(find iri_skid_steering_gazebo)/launch/spawn.launch">
<arg name="name" value="$(arg ns)"/>
<arg name="model" value="pioneer3_example"/>
<arg name="x" value="0.0"/>
<arg name="y" value="0.0"/>
<arg name="yaw" value="0.0"/>
</include>
</launch>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(find iri_skid_steering_gazebo)/rviz/$(arg ns).rviz">
</node>
</launch>
\ No newline at end of file
launch/spawn_pioneer3.launch → launch/spawn.launch
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− 11
View file @ 64f912e9
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="name" default="pioneer3"/>
<arg name="name" default="robot"/>
<arg name="model" default="pioneer3_example"/>
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="yaw" default="0.0"/>
<include file="$(find iri_pioneer3_description)/launch/description.launch">
<arg name="name" value="$(arg name)"/>
<arg name="model" value="$(arg model)"/>
</include>
<group ns="$(arg name)">
<include file="$(find iri_pioneer3_description)/launch/description.launch">
<arg name="node_name" value="$(arg name)"/>
<arg name="model" value="$(arg model)"/>
</include>
<include file="$(find iri_pioneer3_description)/launch/wheel_static_transform.launch"/>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model $(arg name) -x $(arg x) -y $(arg y) -z 0 -R 0 -P 0 -Y $(arg yaw)" />
</group>
</launch>
</launch>
\ No newline at end of file
rviz/robot.rviz 0 → 100644
+ 321
− 0
View file @ 64f912e9
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.570605159
Tree Height: 633
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
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
- Alpha: 1
Class: rviz/RobotModel
Collision 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_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_plate:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot/robot_description
TF Prefix: robot
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
robot/base_footprint:
Value: true
robot/base_link:
Value: true
robot/front_left_axle:
Value: true
robot/front_left_hub:
Value: true
robot/front_left_wheel:
Value: true
robot/front_right_axle:
Value: true
robot/front_right_hub:
Value: true
robot/front_right_wheel:
Value: true
robot/front_sonar:
Value: true
robot/odom:
Value: true
robot/rear_left_axle:
Value: true
robot/rear_left_hub:
Value: true
robot/rear_left_wheel:
Value: true
robot/rear_right_axle:
Value: true
robot/rear_right_hub:
Value: true
robot/rear_right_wheel:
Value: true
robot/rear_sonar:
Value: true
robot/top_plate:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
robot/odom:
robot/base_footprint:
robot/base_link:
robot/front_left_axle:
robot/front_left_hub:
robot/front_left_wheel:
{}
robot/front_right_axle:
robot/front_right_hub:
robot/front_right_wheel:
{}
robot/front_sonar:
{}
robot/rear_left_axle:
robot/rear_left_hub:
robot/rear_left_wheel:
{}
robot/rear_right_axle:
robot/rear_right_hub:
robot/rear_right_wheel:
{}
robot/rear_sonar:
{}
robot/top_plate:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odom
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: robot/odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398185
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000308000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 65
Y: 60
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