Update launch files

launch/helena_test.launch → launch/bringup.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-
+  
+  <arg name="ns" default="helena"/>
+  
+  <arg name="pioneer_config_file" default="$(find iri_pioneer3_bringup)/config/params.yaml" />
+  
   <arg name="front_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_usb.yaml" />
   <arg name="front_laser_node_name" default="front_laser" />
 
   <arg name="rear_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_eth.yaml" />
   <arg name="rear_laser_node_name" default="rear_laser" />
 
-  <arg name="pioneer_config_file" default="$(find iri_pioneer3_bringup)/config/pioneer3.yaml" />
-  <arg name="pioneer_node_name" default="pioneer3" />
-
   <arg name="output" default="log"/>
-
-  <param name="robot_description"
-         command="$(find xacro)/xacro --inorder '$(find iri_helena_description)/urdf/helena.xacro' name:=$(arg pioneer_node_name)" />
-
-  <group ns="helena">
-
-    <include file="$(find iri_pioneer3_bringup)/launch/pioneer3.launch">
-      <arg name="config_file"  value="$(arg pioneer_config_file)"/>
-      <arg name="node_name"  value="$(arg pioneer_node_name)"/>
-      <arg name="output"  value="$(arg output)"/>
-    </include>
+  <arg name="launch_prefix" default=""/>
+
+  <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
+    <arg name="ns"            value="$(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>
  
-    <node pkg="robot_state_publisher" type="state_publisher" name="helena_tf_broadcaster">
-      <param name="tf_prefix" type="string" value="/"/>
-      <param name="publish_frequency" type="double" value="50.0"/>
-    </node>
+  <group ns="$(arg ns)">
 
     <group ns="sensors">
+      
       <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
-        <arg name="config_file"  value="$(arg front_laser_config_file)"/>
-        <arg name="node_name"  value="$(arg front_laser_node_name)"/>
-        <arg name="output"  value="$(arg output)"/>
+        <arg name="config_file" value="$(arg front_laser_config_file)"/>
+        <arg name="node_name"   value="$(arg front_laser_node_name)"/>
+        <arg name="output"      value="$(arg output)"/>
       </include> 
 
       <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
-        <arg name="config_file"  value="$(arg rear_laser_config_file)"/>
-        <arg name="node_name"  value="$(arg rear_laser_node_name)"/>
-        <arg name="output"  value="$(arg output)"/>
+        <arg name="config_file" value="$(arg rear_laser_config_file)"/>
+        <arg name="node_name"   value="$(arg rear_laser_node_name)"/>
+        <arg name="output"      value="$(arg output)"/>
       </include> 
-    </group>
-  </group>
 
+    </group>
 
-  <node name="rviz"
-        pkg="rviz"
-        type="rviz"
-        args="-d $(find iri_helena_bringup)/rviz/helena.rviz"/>
+  </group>
 
 </launch>
 

launch/test.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="ns"                 default="helena" />
+  <arg name="model"              default="$(arg ns)"/>
+  <arg name="output"             default="log" />
+  <arg name="launch_prefix"      default="" />
+
+  <include file="$(find iri_helena_bringup)/launch/bringup.launch">
+    <arg name="ns"                 value="$(arg ns)"/>
+    <arg name="output"             value="$(arg output)"/>
+    <arg name="launch_prefix"      value="$(arg launch_prefix)"/>
+  </include>
+  
+  <include file="$(find iri_helena_description)/launch/description.launch">
+    <arg name="ns"            value="$(arg ns)"/>
+    <arg name="model"         value="$(arg model)"/>
+    <arg name="static_wheels" value="true"/>
+  </include>
+
+  <node name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find iri_helena_bringup)/rviz/$(arg ns).rviz">
+  </node>
+
+</launch>
\ No newline at end of file

rviz/helena.rviz

@@ -3,7 +3,9 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /Global Options1
+        - /Status1
       Splitter Ratio: 0.5
     Tree Height: 633
   - Class: rviz/Selection
@@ -24,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: FrontLaserScan
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -73,8 +75,6 @@ Visualization Manager:
           Value: true
         helena/front_sonar:
           Value: true
-        helena/odom:
-          Value: true
         helena/rear_hokuyo_base:
           Value: true
         helena/rear_hokuyo_scan_frame:
@@ -103,10 +103,8 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        helena/odom:
+        helena/base_footprint:
           helena/base_link:
-            helena/base_footprint:
-              {}
             helena/front_left_axle:
               helena/front_left_hub:
                 helena/front_left_wheel:
@@ -292,7 +290,7 @@ Visualization Manager:
         Shaft Length: 0.5
         Shaft Radius: 0.0500000007
         Value: Arrow
-      Topic: /helena/helena/odom
+      Topic: /helena/odom
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -359,7 +357,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: helena/odom
+    Fixed Frame: helena/base_footprint
     Frame Rate: 30
   Name: root
   Tools:

rviz/helena_nav.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Status1
+        - /Sensors1
+        - /Sensors1/Odometry1/Shape1
+        - /Nav1
+        - /Nav1/DWA_local_planner1
+        - /Nav1/GlobalPlanner1
+        - /Nav1/RRT_planner1
+      Splitter Ratio: 0.5
+    Tree Height: 608
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+      - /Set Attractor2 D1
+      - /Set Repulsor2 D1
+    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: FrontLaserScan
+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
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        helena/base_footprint:
+          Value: true
+        helena/base_link:
+          Value: true
+        helena/body:
+          Value: true
+        helena/caster_support:
+          Value: true
+        helena/front_caster_wheel:
+          Value: true
+        helena/front_hokuyo_base:
+          Value: true
+        helena/front_hokuyo_scan_frame:
+          Value: true
+        helena/front_support:
+          Value: true
+        helena/head:
+          Value: true
+        helena/left_arm:
+          Value: true
+        helena/left_wheel_link:
+          Value: true
+        helena/odom:
+          Value: true
+        helena/rear_caster_wheel:
+          Value: true
+        helena/rear_hokuyo_base:
+          Value: true
+        helena/rear_hokuyo_scan_frame:
+          Value: true
+        helena/rear_support:
+          Value: true
+        helena/right_arm:
+          Value: true
+        helena/right_wheel_link:
+          Value: true
+        helena/top_plate:
+          Value: true
+        map:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          helena/odom:
+            helena/base_footprint:
+              helena/base_link:
+                helena/caster_support:
+                  {}
+                helena/front_hokuyo_base:
+                  helena/front_hokuyo_scan_frame:
+                    {}
+                helena/front_support:
+                  helena/front_caster_wheel:
+                    {}
+                helena/left_wheel_link:
+                  {}
+                helena/rear_hokuyo_base:
+                  helena/rear_hokuyo_scan_frame:
+                    {}
+                helena/rear_support:
+                  helena/rear_caster_wheel:
+                    {}
+                helena/right_wheel_link:
+                  {}
+                helena/top_plate:
+                  helena/body:
+                    {}
+                  helena/head:
+                    {}
+                  helena/left_arm:
+                    {}
+                  helena/right_arm:
+                    {}
+      Update Interval: 0
+      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
+        body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_hokuyo_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_hokuyo_scan_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_arm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_hokuyo_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_hokuyo_scan_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_arm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          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: helena/robot_description
+      TF Prefix: helena
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Group
+      Displays:
+        - Angle Tolerance: 0.300000012
+          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: 0.300000012
+          Shape:
+            Alpha: 0.5
+            Axes Length: 1
+            Axes Radius: 0.100000001
+            Color: 255; 25; 0
+            Head Length: 0.0500000007
+            Head Radius: 0.0500000007
+            Shaft Length: 0.25
+            Shaft Radius: 0.0250000004
+            Value: Arrow
+          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: 85; 0; 255
+          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: 999999
+          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: 85; 170; 255
+          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: 999999
+          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
+      Name: Sensors
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.699999988
+          Class: rviz/Map
+          Color Scheme: map
+          Draw Behind: true
+          Enabled: true
+          Name: Map
+          Topic: /helena/map
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Class: rviz/Polygon
+          Color: 25; 255; 0
+          Enabled: true
+          Name: FootprintPolygon
+          Topic: /helena/move_base/local_costmap/footprint
+          Unreliable: false
+          Value: true
+        - Alpha: 0.5
+          Class: rviz/Map
+          Color Scheme: costmap
+          Draw Behind: true
+          Enabled: false
+          Name: LocalCostmapMap
+          Topic: /helena/move_base/local_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: false
+        - Alpha: 0.699999988
+          Class: rviz/Map
+          Color Scheme: costmap
+          Draw Behind: true
+          Enabled: false
+          Name: GlobalCostmapMap
+          Topic: /helena/move_base/global_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: false
+        - Alpha: 1
+          Axes Length: 1
+          Axes Radius: 0.100000001
+          Class: rviz/Pose
+          Color: 255; 255; 0
+          Enabled: true
+          Head Length: 0.300000012
+          Head Radius: 0.100000001
+          Name: GoalPose
+          Shaft Length: 1
+          Shaft Radius: 0.0500000007
+          Shape: Arrow
+          Topic: /helena/move_base_simple/goal
+          Unreliable: false
+          Value: true
+        - Class: rviz/Group
+          Displays:
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 255; 0; 0
+              Enabled: true
+              Head Diameter: 0.300000012
+              Head Length: 0.200000003
+              Length: 0.300000012
+              Line Style: Lines
+              Line Width: 0.0299999993
+              Name: LocalPath
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Pose Color: 255; 85; 255
+              Pose Style: None
+              Radius: 0.0299999993
+              Shaft Diameter: 0.100000001
+              Shaft Length: 0.100000001
+              Topic: /helena/move_base/DWAPlannerROS/local_plan
+              Unreliable: false
+              Value: true
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 25; 255; 0
+              Enabled: true
+              Head Diameter: 0.300000012
+              Head Length: 0.200000003
+              Length: 0.300000012
+              Line Style: Lines
+              Line Width: 0.0299999993
+              Name: GlobalPath
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Pose Color: 255; 85; 255
+              Pose Style: None
+              Radius: 0.0299999993
+              Shaft Diameter: 0.100000001
+              Shaft Length: 0.100000001
+              Topic: /helena/move_base/DWAPlannerROS/global_plan
+              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: total_cost
+              Class: rviz/PointCloud2
+              Color: 255; 255; 255
+              Color Transformer: Intensity
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 255; 255; 255
+              Max Intensity: 622.77002
+              Min Color: 0; 0; 0
+              Min Intensity: 0
+              Name: CostPointCloud2
+              Position Transformer: XYZ
+              Queue Size: 10
+              Selectable: true
+              Size (Pixels): 10
+              Size (m): 0.100000001
+              Style: Points
+              Topic: /helena/move_base/DWAPlannerROS/cost_cloud
+              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: total_cost
+              Class: rviz/PointCloud2
+              Color: 255; 255; 255
+              Color Transformer: Intensity
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 255; 255; 255
+              Max Intensity: 67.1999969
+              Min Color: 0; 0; 0
+              Min Intensity: 62.4000015
+              Name: TrajectoryPointCloud2
+              Position Transformer: XYZ
+              Queue Size: 10
+              Selectable: true
+              Size (Pixels): 10
+              Size (m): 0.00999999978
+              Style: Squares
+              Topic: /helena/move_base/DWAPlannerROS/trajectory_cloud
+              Unreliable: false
+              Use Fixed Frame: true
+              Use rainbow: true
+              Value: true
+          Enabled: true
+          Name: DWA_local_planner
+        - Class: rviz/Group
+          Displays:
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 25; 255; 0
+              Enabled: true
+              Head Diameter: 0.300000012
+              Head Length: 0.200000003
+              Length: 0.300000012
+              Line Style: Lines
+              Line Width: 0.0299999993
+              Name: GlobalPath
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Pose Color: 255; 85; 255
+              Pose Style: None
+              Radius: 0.0299999993
+              Shaft Diameter: 0.100000001
+              Shaft Length: 0.100000001
+              Topic: /helena/move_base/GlobalPlanner/plan
+              Unreliable: false
+              Value: true
+            - Alpha: 0.699999988
+              Class: rviz/Map
+              Color Scheme: costmap
+              Draw Behind: true
+              Enabled: true
+              Name: PotentialMap
+              Topic: /helena/move_base/GlobalPlanner/potential
+              Unreliable: false
+              Use Timestamp: false
+              Value: true
+          Enabled: true
+          Name: GlobalPlanner
+        - Class: rviz/Group
+          Displays:
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 170; 85; 255
+              Enabled: true
+              Head Diameter: 0.300000012
+              Head Length: 0.200000003
+              Length: 0.300000012
+              Line Style: Lines
+              Line Width: 0.0299999993
+              Name: RrtPath
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Pose Color: 255; 85; 255
+              Pose Style: None
+              Radius: 0.0299999993
+              Shaft Diameter: 0.100000001
+              Shaft Length: 0.100000001
+              Topic: /helena/move_base/RrtPlanner/plan
+              Unreliable: false
+              Value: true
+            - Class: rviz/MarkerArray
+              Enabled: true
+              Marker Topic: /helena/move_base/RrtPlanner/rrt_markers
+              Name: RRTMarkerArray
+              Namespaces:
+                "": true
+              Queue Size: 1
+              Value: true
+            - Class: rviz/MarkerArray
+              Enabled: false
+              Marker Topic: /helena/move_base/RrtPlanner/obstacle_markers
+              Name: ObstaclesMarkerArray
+              Namespaces:
+                {}
+              Queue Size: 1
+              Value: false
+            - Class: rviz/MarkerArray
+              Enabled: true
+              Marker Topic: /rviz/sfm_rep_markers
+              Name: SFMMarkerArray
+              Namespaces:
+                "": true
+              Queue Size: 100
+              Value: true
+          Enabled: true
+          Name: RRT_planner
+      Enabled: true
+      Name: Nav
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    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: /helena/initialpose
+    - Class: rviz/SetGoal
+      Topic: /helena/move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: rviz_sfm_plugins/SetAttractor2D
+    - Class: rviz_sfm_plugins/SetRepulsor2D
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 22.1068153
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
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+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
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+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398185
+    Saved: ~
+Window Geometry:
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+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
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+  Time:
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+  Tool Properties:
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+  Views:
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+  Width: 1200
+  X: 65
+  Y: 26