diff --git a/launch/bringup.launch b/launch/bringup.launch
index eebdf7033890fd18b594b4d9973144568f01934d..57cc9de71762f5c68739f44f7507d00b0ac5121b 100644
--- a/launch/bringup.launch
+++ b/launch/bringup.launch
@@ -3,25 +3,26 @@
<arg name="ns" default="helena"/>
- <!--enable/disable-->
- <arg name="front_laser" default="true"/>
- <arg name="rear_laser" default="true"/>
- <arg name="joy" default="true"/>
- <arg name="platform" default="true"/>
-
- <arg name="pioneer_config_file" default="$(find iri_helena_bringup)/config/pioneer_params.yaml" />
- <arg name="front_laser_config_file" default="$(find iri_helena_bringup)/config/hokuyo_utm30lx_usb.yaml" />
- <arg name="rear_laser_config_file" default="$(find iri_helena_bringup)/config/hokuyo_utm30lx_eth.yaml" />
- <arg name="joy_config_file" default="$(find iri_helena_bringup)/config/joy_params.yaml" />
+ <arg name="pioneer_config_file" default="$(find iri_helena_bringup)/config/helena_pioneer.yaml" />
+
+ <arg name="robosense_config_file" default="$(find iri_helena_bringup)/config/helena_rs16.yaml" />
+ <arg name="robosense_node_name" default="front_laser" />
+
+ <arg name="realsense_config_file" default="$(find iri_helena_bringup)/config/helena_realsense.yaml" />
+ <arg name="realsense_camera_name" default="nav_cam"/>
+ <arg name="realsense_tf_prefix" default="$(arg ns)"/>
+
+ <arg name="imu_config_file" default="$(find iri_helena_bringup)/config/helena_bno055.yaml" />
+ <arg name="imu_calibration_file" default="$(find iri_helena_bringup)/calibration/bno055.cal" />
+ <arg name="imu_node_name" default="bno055_imu"/>
- <arg name="output" default="log"/>
+ <arg name="output" default="screen"/>
<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)" >
+ <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)"/>
@@ -32,51 +33,29 @@
<group ns="sensors">
- <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch"
- if="$(arg front_laser)" >
- <arg name="config_file" value="$(arg front_laser_config_file)"/>
- <arg name="node_name" value="front_laser"/>
- <arg name="scan_topic" value="/$(arg ns)/sensors/front_laser_scan"/>
- <arg name="status_topic" value="/$(arg ns)/sensors/front_laser_status"/>
+ <include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch">
+ <arg name="config_file" value="$(arg robosense_config_file)"/>
+ <arg name="node_name" value="$(arg robosense_node_name)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
- <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch"
- if="$(arg rear_laser)" >
- <arg name="config_file" value="$(arg rear_laser_config_file)"/>
- <arg name="node_name" value="rear_laser"/>
- <arg name="scan_topic" value="/$(arg ns)/sensors/rear_laser_scan"/>
- <arg name="status_topic" value="/$(arg ns)/sensors/rear_laser_status"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+<!-- <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
+ <arg name="config_file" value="$(arg realsense_config_file)"/>
+ <arg name="camera_name" value="$(arg realsense_camera_name)"/>
+ <arg name="tf_prefix" value="$(arg realsense_tf_prefix)"/>
+ </include>-->
+
+ <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
+ <arg name="config_file" value="$(arg imu_config_file)"/>
+ <arg name="calibration_file" value="$(arg imu_calibration_file)"/>
+ <arg name="node_name" value="$(arg imu_node_name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
- <node pkg="joy"
- type="joy_node"
- name="joy_node"
- if="$(arg joy)"
- respawn="true">
- <rosparam file="$(arg joy_config_file)" command="load" />
- <remap from="~joy" to="/$(arg ns)/sensors/joy"/>
- </node>
-
- <!--TODO gps -->
-
- <!--TODO camera -->
-
- <!--TODO battery_monitor -->
-
- </group>
-
- <group ns="devices">
-
- <!--TODO pan & tilt -->
-
- <!--TODO tts -->
-
</group>
</group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/test.launch b/launch/test.launch
index 8e76ca69a6e696eaa8832b6c2a44f2bfbe5c9e72..9c44a6d34209e3ca69d1e9181a2939bccb14e4c1 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -3,7 +3,7 @@
<arg name="ns" default="helena" />
<arg name="model" default="$(arg ns)"/>
- <arg name="output" default="log" />
+ <arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_helena_bringup)/launch/bringup.launch">
@@ -24,4 +24,4 @@
args="-d $(find iri_helena_bringup)/rviz/$(arg ns).rviz">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index c2d6b3681b924f0133983119e31e4b21de8e00d2..be20ed1838cf3d49c464937f739711a484bb10e0 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -26,7 +26,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: FrontLaserScan
+ SyncSource: robosense
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@@ -59,10 +59,6 @@ Visualization Manager:
Value: true
helena/base_link:
Value: true
- helena/front_hokuyo_base:
- Value: true
- helena/front_hokuyo_scan_frame:
- Value: true
helena/front_left_axle:
Value: true
helena/front_left_hub:
@@ -77,11 +73,13 @@ Visualization Manager:
Value: true
helena/front_sonar:
Value: true
- helena/odom:
+ helena/helena_box:
Value: true
- helena/rear_hokuyo_base:
+ helena/imu_bno055:
Value: true
- helena/rear_hokuyo_scan_frame:
+ helena/imu_bno055_base:
+ Value: true
+ helena/odom:
Value: true
helena/rear_left_axle:
Value: true
@@ -97,11 +95,11 @@ Visualization Manager:
Value: true
helena/rear_sonar:
Value: true
- helena/sensors_base:
+ helena/robosense:
Value: true
- helena/top_plate:
+ helena/robosense_base:
Value: true
- map:
+ helena/top_plate:
Value: true
Marker Scale: 0.25
Name: TF
@@ -122,6 +120,8 @@ Visualization Manager:
{}
helena/front_sonar:
{}
+ helena/helena_box:
+ {}
helena/rear_left_axle:
helena/rear_left_hub:
helena/rear_left_wheel:
@@ -132,17 +132,14 @@ Visualization Manager:
{}
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/robosense_base:
+ helena/robosense:
+ {}
helena/top_plate:
{}
- map:
- {}
+ helena/imu_bno055_base:
+ helena/imu_bno055:
+ {}
Update Interval: 0
Value: true
- Alpha: 0.899999976
@@ -164,15 +161,6 @@ Visualization Manager:
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_left_axle:
Alpha: 1
Show Axes: false
@@ -208,12 +196,17 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- rear_hokuyo_base:
+ helena_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_bno055:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- rear_hokuyo_scan_frame:
+ imu_bno055_base:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -252,11 +245,15 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- sensors_base:
+ robosense:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
+ robosense_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
top_plate:
Alpha: 1
Show Axes: false
@@ -307,33 +304,33 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
+ Max Value: 1.86796319
+ Min Value: -5.28491831
Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/LaserScan
- Color: 255; 0; 0
- Color Transformer: FlatColor
+ Axis: X
+ Channel Name: x
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 999999
+ Max Intensity: 1.85023665
Min Color: 0; 0; 0
- Min Intensity: 1.50313361e-19
- Name: FrontLaserScan
+ Min Intensity: -5.28405237
+ Name: SonarPointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 3
+ Size (Pixels): 20
Size (m): 0.00999999978
Style: Points
- Topic: /helena/sensors/front_laser_scan
+ Topic: /helena/rosaria/sonar_pointcloud2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -342,58 +339,28 @@ Visualization Manager:
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
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 1.85023665
+ Max Intensity: 255
Min Color: 0; 0; 0
- Min Intensity: -5.28405237
- Name: SonarPointCloud2
+ Min Intensity: 0.462781101
+ Name: robosense
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 20
+ Size (Pixels): 3
Size (m): 0.00999999978
- Style: Points
- Topic: /helena/rosaria/sonar_pointcloud2
+ Style: Flat Squares
+ Topic: /helena/sensors/rslidar_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
Enabled: true
Name: Sensors
Enabled: true