diff --git a/config/hokuyo_utm30lx_eth.yaml b/config/hokuyo_utm30lx_eth.yaml
index 7458f3171580ba9a6aab59c537f03e641a2364fe..b303910cf9d8f331f593e4e827fb6e6fe788c283 100644
--- a/config/hokuyo_utm30lx_eth.yaml
+++ b/config/hokuyo_utm30lx_eth.yaml
@@ -10,8 +10,8 @@ error_limit: 4
diagnostics_tolerance: 0.05
diagnostics_window_time: 5.0
get_detailed_status: false
-tf_prefix: '/'
-frame_id: '/front_hokuyo_scan_frame'
+tf_prefix: 'helena'
+frame_id: 'rear_hokuyo_scan_frame'
time_offset: 0.0
angle_min: -2.36
angle_max: 2.36
diff --git a/config/hokuyo_utm30lx_usb.yaml b/config/hokuyo_utm30lx_usb.yaml
index 4a271ca9175da2f178fe3f9c791633089146ac8d..3dec89be6cb5f28b8f460cf0fc2e20a7b527fbde 100644
--- a/config/hokuyo_utm30lx_usb.yaml
+++ b/config/hokuyo_utm30lx_usb.yaml
@@ -10,8 +10,8 @@ error_limit: 4
diagnostics_tolerance: 0.05
diagnostics_window_time: 5.0
get_detailed_status: false
-tf_prefix: '/'
-frame_id: '/rear_hokuyo_scan_frame'
+tf_prefix: 'helena'
+frame_id: 'front_hokuyo_scan_frame'
time_offset: 0.0
angle_min: -2.36
angle_max: 2.36
diff --git a/config/pioneer_params.yaml b/config/pioneer_params.yaml
index 546935cb18fc20a2345f9fa3df69a0c73745c632..26e5d9af7df202202668e5d7e76dcd5512b813c1 100644
--- a/config/pioneer_params.yaml
+++ b/config/pioneer_params.yaml
@@ -13,7 +13,7 @@ publish_aria_lasers: false
#DriftFactor:
#RevCount:
cmd_vel_timeout: 0.6
-odom_frame: 'odom'
-base_link_frame: 'base_link'
-bumpers_frame: 'bumbers'
-sonar_frame: 'sonar'
+odom_frame: 'helena/odom'
+base_link_frame: 'helena/base_footprint'
+bumpers_frame: 'helena/bumbers'
+sonar_frame: 'helena/sensors_base'
diff --git a/launch/bringup.launch b/launch/bringup.launch
index b25db83bfcf9f4a328274e5ed1c9008fd81bd623..eebdf7033890fd18b594b4d9973144568f01934d 100644
--- a/launch/bringup.launch
+++ b/launch/bringup.launch
@@ -16,7 +16,18 @@
<arg name="output" default="log"/>
<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="$(arg ns)">
<group ns="sensors">
@@ -59,14 +70,6 @@
</group>
<group ns="devices">
-
- <include file="$(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 -->
@@ -76,5 +79,4 @@
</group>
-</launch>
-
+</launch>
\ No newline at end of file
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index e9d1ff0c94b7e5410c385a13d01778bd7b384b80..c2d6b3681b924f0133983119e31e4b21de8e00d2 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -5,7 +5,7 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- - /Status1
+ - /Sensors1
Splitter Ratio: 0.5
Tree Height: 633
- Class: rviz/Selection
@@ -26,7 +26,9 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: ""
+ SyncSource: FrontLaserScan
+Toolbars:
+ toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
@@ -75,6 +77,8 @@ Visualization Manager:
Value: true
helena/front_sonar:
Value: true
+ helena/odom:
+ Value: true
helena/rear_hokuyo_base:
Value: true
helena/rear_hokuyo_scan_frame:
@@ -97,43 +101,48 @@ Visualization Manager:
Value: true
helena/top_plate:
Value: true
+ map:
+ Value: true
Marker Scale: 0.25
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
- helena/base_footprint:
- helena/base_link:
- helena/front_left_axle:
- helena/front_left_hub:
- helena/front_left_wheel:
- {}
- helena/front_right_axle:
- helena/front_right_hub:
- helena/front_right_wheel:
- {}
- helena/front_sonar:
- {}
- helena/rear_left_axle:
- helena/rear_left_hub:
- helena/rear_left_wheel:
- {}
- helena/rear_right_axle:
- helena/rear_right_hub:
- helena/rear_right_wheel:
- {}
- helena/rear_sonar:
- {}
- helena/sensors_base:
- helena/front_hokuyo_base:
- helena/front_hokuyo_scan_frame:
- {}
- helena/rear_hokuyo_base:
- helena/rear_hokuyo_scan_frame:
- {}
- helena/top_plate:
- {}
+ helena/odom:
+ helena/base_footprint:
+ helena/base_link:
+ helena/front_left_axle:
+ helena/front_left_hub:
+ helena/front_left_wheel:
+ {}
+ helena/front_right_axle:
+ helena/front_right_hub:
+ helena/front_right_wheel:
+ {}
+ helena/front_sonar:
+ {}
+ helena/rear_left_axle:
+ helena/rear_left_hub:
+ helena/rear_left_wheel:
+ {}
+ helena/rear_right_axle:
+ helena/rear_right_hub:
+ helena/rear_right_wheel:
+ {}
+ helena/rear_sonar:
+ {}
+ helena/sensors_base:
+ helena/front_hokuyo_base:
+ helena/front_hokuyo_scan_frame:
+ {}
+ helena/rear_hokuyo_base:
+ helena/rear_hokuyo_scan_frame:
+ {}
+ helena/top_plate:
+ {}
+ map:
+ {}
Update Interval: 0
Value: true
- Alpha: 0.899999976
@@ -293,66 +302,100 @@ Visualization Manager:
Topic: /helena/odom
Unreliable: false
Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/LaserScan
- Color: 255; 0; 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: FrontLaserScan
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.00999999978
- Style: Points
- Topic: /helena/front_hokuyo_scan
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/LaserScan
- Color: 255; 170; 0
- Color Transformer: FlatColor
- Decay Time: 0
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 0; 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: FrontLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/sensors/front_laser_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ 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
- 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/rear_hokuyo_scan
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
+ Name: Sensors
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -368,17 +411,17 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
- Topic: /initialpose
+ Topic: /helena/initialpose
- Class: rviz/SetGoal
- Topic: /move_base_simple/goal
+ Topic: /helena/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
- Topic: /clicked_point
+ Topic: /helena/clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
- Distance: 11.6034374
+ Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1