Update launch files

README.md

@@ -21,7 +21,7 @@ repository inside the active workspace:
 ```
 roscd
 cd ../src
-git clone https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_imu_gazebo.git 
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo.git 
 ```
 
 However, this package is normally used as part of a wider installation (i.e. a

launch/sim_sample.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+  
+  <arg name="ns"    default="ana"/>
+  <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="$(find iri_ana_gazebo)/launch/spawn_ana.launch">
-    <arg name="name"  value="ana"/>
+  <include file="$(find iri_ana_gazebo)/launch/spawn.launch">
+    <arg name="ns"    value="$(arg ns)"/>
     <arg name="model" value="ana"/>
-    <arg name="x"   value="0.0"/>
-    <arg name="y"   value="0.0"/>
-    <arg name="yaw" value="0.0"/>
+    <arg name="x"     value="0.0"/>
+    <arg name="y"     value="0.0"/>
+    <arg name="yaw"   value="0.0"/>
   </include>
 
   <node name="rviz"
         pkg="rviz"
         type="rviz"
-        args="-d $(find iri_ana_gazebo)/rviz/ana_sim.rviz"/>
-</launch>
+        if="$(arg rviz)"
+        args="-d $(find iri_ana_gazebo)/rviz/$(arg ns).rviz">
+  </node>
+
+</launch>
\ No newline at end of file

launch/spawn.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="ns"    default="ana"/>
+  <arg name="model" default="ana"/>
+  <arg name="x"     default="0.0"/>
+  <arg name="y"     default="0.0"/>
+  <arg name="yaw"   default="0.0"/>
+  
+  <include file="$(find iri_ana_description)/launch/description.launch">
+    <arg name="ns"            value="$(arg ns)"/>
+    <arg name="model"         value="$(arg model)"/>
+    <arg name="static_wheels" value="true" />
+  </include>
+  
+  <group ns="$(arg ns)">
+  
+    <node name="spawn_urdf"
+          pkg="gazebo_ros"
+          type="spawn_model"
+          args="-param robot_description -urdf -model $(arg ns) -x $(arg x) -y $(arg y) -z 0 -R 0 -P 0 -Y $(arg yaw)" />
+  
+  </group>
+
+</launch>
\ No newline at end of file

launch/spawn_ana.launch

-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-
-  <arg name="name"  default="ana"/>
-  <arg name="model" default="ana"/>
-  <arg name="x"   default="0.0"/>
-  <arg name="y"   default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-
-  <group ns="$(arg name)">
-
-    <include file="$(find iri_ana_description)/launch/description.launch">
-      <arg name="node_name" value="$(arg name)"/>
-      <arg name="model" value="$(arg model)"/>
-    </include>
-
-    <include file="$(find iri_pioneer3_description)/launch/wheel_static_transf.launch">
-      <arg name="node_name" value="$(arg name)"/>
-    </include>
-  
-    <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>
-

rviz/ana_sim.rviz → rviz/ana.rviz

@@ -6,10 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Velodyne1
-        - /realsense_pointcloud1
       Splitter Ratio: 0.5
-    Tree Height: 522
+    Tree Height: 594
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -78,6 +76,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         camera_color_frame:
           Alpha: 1
           Show Axes: false
@@ -228,6 +230,8 @@ Visualization Manager:
           Value: true
         ana/base_link:
           Value: true
+        ana/camera_bottom_screw_frame:
+          Value: true
         ana/camera_color_frame:
           Value: true
         ana/camera_color_optical_frame:
@@ -319,19 +323,20 @@ Visualization Manager:
                 ana/ana_box:
                   {}
                 ana/ana_realsense_support:
-                  ana/camera_link:
-                    ana/camera_depth_frame:
-                      ana/camera_color_frame:
-                        ana/camera_color_optical_frame:
-                          {}
-                      ana/camera_depth_optical_frame:
-                        {}
-                      ana/camera_left_ir_frame:
-                        ana/camera_left_ir_optical_frame:
-                          {}
-                      ana/camera_right_ir_frame:
-                        ana/camera_right_ir_optical_frame:
+                  ana/camera_bottom_screw_frame:
+                    ana/camera_link:
+                      ana/camera_depth_frame:
+                        ana/camera_color_frame:
+                          ana/camera_color_optical_frame:
+                            {}
+                        ana/camera_depth_optical_frame:
                           {}
+                        ana/camera_left_ir_frame:
+                          ana/camera_left_ir_optical_frame:
+                            {}
+                        ana/camera_right_ir_frame:
+                          ana/camera_right_ir_optical_frame:
+                            {}
                 ana/velodyne_base:
                   ana/velodyne:
                     {}
@@ -355,9 +360,9 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 0
+      Max Intensity: 999999
       Min Color: 0; 0; 0
-      Min Intensity: 0
+      Min Intensity: 999999
       Name: Velodyne
       Position Transformer: XYZ
       Queue Size: 10
@@ -370,7 +375,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Alpha: 1
+    - Alpha: 0.5
       Class: rviz_plugin_tutorials/Imu
       Color: 204; 51; 204
       Enabled: true
@@ -446,33 +451,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 8.14016628
+      Distance: 10
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.296762884
-        Y: -0.0358628929
-        Z: -0.184484214
-      Focal Shape Fixed Size: true
+        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: 0.385397941
+      Pitch: 0.785398185
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.835398138
+      Yaw: 0.785398185
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 807
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000299000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002c7000000f70000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e1000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000019f000002e1fc0200000004fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720100000028000002e10000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002fd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -481,7 +486,7 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
+  Width: 1554
   X: 65
   Y: 24
   realsense_color: