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Commit 6dacba97 authored by Fernando Herrero's avatar Fernando Herrero
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Update bringup launch and yaml files

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config/hokuyo_utm30lx_eth.yaml
+ 2
− 2
View file @ 6dacba97
...@@ -10,8 +10,8 @@ error_limit: 4 ...@@ -10,8 +10,8 @@ error_limit: 4
diagnostics_tolerance: 0.05 diagnostics_tolerance: 0.05
diagnostics_window_time: 5.0 diagnostics_window_time: 5.0
get_detailed_status: false get_detailed_status: false
tf_prefix: '/' tf_prefix: 'helena'
frame_id: '/front_hokuyo_scan_frame' frame_id: 'rear_hokuyo_scan_frame'
time_offset: 0.0 time_offset: 0.0
angle_min: -2.36 angle_min: -2.36
angle_max: 2.36 angle_max: 2.36
......
config/hokuyo_utm30lx_usb.yaml
+ 2
− 2
View file @ 6dacba97
...@@ -10,8 +10,8 @@ error_limit: 4 ...@@ -10,8 +10,8 @@ error_limit: 4
diagnostics_tolerance: 0.05 diagnostics_tolerance: 0.05
diagnostics_window_time: 5.0 diagnostics_window_time: 5.0
get_detailed_status: false get_detailed_status: false
tf_prefix: '/' tf_prefix: 'helena'
frame_id: '/rear_hokuyo_scan_frame' frame_id: 'front_hokuyo_scan_frame'
time_offset: 0.0 time_offset: 0.0
angle_min: -2.36 angle_min: -2.36
angle_max: 2.36 angle_max: 2.36
......
config/pioneer_params.yaml
+ 4
− 4
View file @ 6dacba97
...@@ -13,7 +13,7 @@ publish_aria_lasers: false ...@@ -13,7 +13,7 @@ publish_aria_lasers: false
#DriftFactor: #DriftFactor:
#RevCount: #RevCount:
cmd_vel_timeout: 0.6 cmd_vel_timeout: 0.6
odom_frame: 'odom' odom_frame: 'helena/odom'
base_link_frame: 'base_link' base_link_frame: 'helena/base_footprint'
bumpers_frame: 'bumbers' bumpers_frame: 'helena/bumbers'
sonar_frame: 'sonar' sonar_frame: 'helena/sensors_base'
launch/bringup.launch
+ 13
− 11
View file @ 6dacba97
...@@ -16,7 +16,18 @@ ...@@ -16,7 +16,18 @@
<arg name="output" default="log"/> <arg name="output" default="log"/>
<arg name="launch_prefix" default=""/> <arg name="launch_prefix" default=""/>
<remap from="/$(arg ns)/rosaria/cmd_vel" to="/$(arg ns)/cmd_vel"/>
<remap from="/$(arg ns)/rosaria/pose" to="/$(arg ns)/odom"/>
<include file="$(find iri_pioneer3_bringup)/launch/bringup.launch"
if="$(arg platform)" >
<arg name="ns" value="$(arg ns)"/>
<arg name="config_file" value="$(arg pioneer_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<group ns="$(arg ns)"> <group ns="$(arg ns)">
<group ns="sensors"> <group ns="sensors">
...@@ -59,14 +70,6 @@ ...@@ -59,14 +70,6 @@
</group> </group>
<group ns="devices"> <group ns="devices">
<include file="$(find iri_pioneer3_bringup)/launch/bringup.launch"
if="$(arg platform)" >
<arg name="ns" value="$(arg ns)"/>
<arg name="config_file" value="$(arg pioneer_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<!--TODO pan & tilt --> <!--TODO pan & tilt -->
...@@ -76,5 +79,4 @@ ...@@ -76,5 +79,4 @@
</group> </group>
</launch> </launch>
\ No newline at end of file
rviz/helena.rviz
+ 139
− 96
View file @ 6dacba97
...@@ -5,7 +5,7 @@ Panels: ...@@ -5,7 +5,7 @@ Panels:
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Status1 - /Sensors1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 633 Tree Height: 633
- Class: rviz/Selection - Class: rviz/Selection
...@@ -26,7 +26,9 @@ Panels: ...@@ -26,7 +26,9 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: FrontLaserScan
Toolbars:
toolButtonStyle: 2
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
...@@ -75,6 +77,8 @@ Visualization Manager: ...@@ -75,6 +77,8 @@ Visualization Manager:
Value: true Value: true
helena/front_sonar: helena/front_sonar:
Value: true Value: true
helena/odom:
Value: true
helena/rear_hokuyo_base: helena/rear_hokuyo_base:
Value: true Value: true
helena/rear_hokuyo_scan_frame: helena/rear_hokuyo_scan_frame:
...@@ -97,43 +101,48 @@ Visualization Manager: ...@@ -97,43 +101,48 @@ Visualization Manager:
Value: true Value: true
helena/top_plate: helena/top_plate:
Value: true Value: true
map:
Value: true
Marker Scale: 0.25 Marker Scale: 0.25
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
Show Names: true Show Names: true
Tree: Tree:
helena/base_footprint: helena/odom:
helena/base_link: helena/base_footprint:
helena/front_left_axle: helena/base_link:
helena/front_left_hub: helena/front_left_axle:
helena/front_left_wheel: helena/front_left_hub:
{} helena/front_left_wheel:
helena/front_right_axle: {}
helena/front_right_hub: helena/front_right_axle:
helena/front_right_wheel: helena/front_right_hub:
{} helena/front_right_wheel:
helena/front_sonar: {}
{} helena/front_sonar:
helena/rear_left_axle: {}
helena/rear_left_hub: helena/rear_left_axle:
helena/rear_left_wheel: helena/rear_left_hub:
{} helena/rear_left_wheel:
helena/rear_right_axle: {}
helena/rear_right_hub: helena/rear_right_axle:
helena/rear_right_wheel: helena/rear_right_hub:
{} helena/rear_right_wheel:
helena/rear_sonar: {}
{} helena/rear_sonar:
helena/sensors_base: {}
helena/front_hokuyo_base: helena/sensors_base:
helena/front_hokuyo_scan_frame: helena/front_hokuyo_base:
{} helena/front_hokuyo_scan_frame:
helena/rear_hokuyo_base: {}
helena/rear_hokuyo_scan_frame: helena/rear_hokuyo_base:
{} helena/rear_hokuyo_scan_frame:
helena/top_plate: {}
{} helena/top_plate:
{}
map:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
- Alpha: 0.899999976 - Alpha: 0.899999976
...@@ -293,66 +302,100 @@ Visualization Manager: ...@@ -293,66 +302,100 @@ Visualization Manager:
Topic: /helena/odom Topic: /helena/odom
Unreliable: false Unreliable: false
Value: true Value: true
- Alpha: 1 - Class: rviz/Group
Autocompute Intensity Bounds: true Displays:
Autocompute Value Bounds: - Alpha: 1
Max Value: 10 Autocompute Intensity Bounds: true
Min Value: -10 Autocompute Value Bounds:
Value: true Max Value: 10
Axis: Z Min Value: -10
Channel Name: intensity Value: true
Class: rviz/LaserScan Axis: Z
Color: 255; 0; 0 Channel Name: intensity
Color Transformer: FlatColor Class: rviz/LaserScan
Decay Time: 0 Color: 255; 0; 0
Enabled: true Color Transformer: FlatColor
Invert Rainbow: false Decay Time: 0
Max Color: 255; 255; 255 Enabled: true
Max Intensity: 999999 Invert Rainbow: false
Min Color: 0; 0; 0 Max Color: 255; 255; 255
Min Intensity: 1.50313361e-19 Max Intensity: 999999
Name: FrontLaserScan Min Color: 0; 0; 0
Position Transformer: XYZ Min Intensity: 1.50313361e-19
Queue Size: 10 Name: FrontLaserScan
Selectable: true Position Transformer: XYZ
Size (Pixels): 3 Queue Size: 10
Size (m): 0.00999999978 Selectable: true
Style: Points Size (Pixels): 3
Topic: /helena/front_hokuyo_scan Size (m): 0.00999999978
Unreliable: false Style: Points
Use Fixed Frame: true Topic: /helena/sensors/front_laser_scan
Use rainbow: true Unreliable: false
Value: true Use Fixed Frame: true
- Alpha: 1 Use rainbow: true
Autocompute Intensity Bounds: true Value: true
Autocompute Value Bounds: - Alpha: 1
Max Value: 10 Autocompute Intensity Bounds: true
Min Value: -10 Autocompute Value Bounds:
Value: true Max Value: 10
Axis: Z Min Value: -10
Channel Name: intensity Value: true
Class: rviz/LaserScan Axis: Z
Color: 255; 170; 0 Channel Name: intensity
Color Transformer: FlatColor Class: rviz/LaserScan
Decay Time: 0 Color: 255; 170; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 1.50313361e-19
Name: RearLaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/sensors/rear_laser_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.86796319
Min Value: -5.28491831
Value: true
Axis: X
Channel Name: x
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1.85023665
Min Color: 0; 0; 0
Min Intensity: -5.28405237
Name: SonarPointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 20
Size (m): 0.00999999978
Style: Points
Topic: /helena/rosaria/sonar_pointcloud2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: true Enabled: true
Invert Rainbow: false Name: Sensors
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 1.50313361e-19
Name: RearLaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/rear_hokuyo_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
...@@ -368,17 +411,17 @@ Visualization Manager: ...@@ -368,17 +411,17 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Topic: /initialpose Topic: /helena/initialpose
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /helena/move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
Single click: true Single click: true
Topic: /clicked_point Topic: /helena/clicked_point
Value: true Value: true
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 11.6034374 Distance: 10
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1 Stereo Focal Distance: 1
......
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