Config file: frameName passed as frame_id argument. TopicName taken directly...

Config file: frameName passed as frame_id argument. TopicName taken directly from yaml, which allows correct desired namespacing. Add rviz to test launch.

config/hokuyo_utm30lx.yaml

@@ -17,4 +17,4 @@ noise_type: 'gaussian'
 noise_mean: 0.0
 noise_stddev: 0.01
 topic_name: 'scan'
-frame_name: 'scan_frame'
\ No newline at end of file
+#frame_name: 'scan_frame'
\ No newline at end of file

launch/hokuyo_laser2d_sim.launch

@@ -27,6 +27,12 @@
   </node>
 
   <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model hokuyo_laser2d -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+  
+  <node name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find iri_laser2d_gazebo)/rviz/laser.rviz">
+  </node>
 
 </launch>
 

rviz/laser.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 633
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    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: LaserScan
+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
+        hokuyo_base:
+          Value: true
+        top_hokuyo_base:
+          Value: true
+        top_hokuyo_scan_frame:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        hokuyo_base:
+          top_hokuyo_base:
+            top_hokuyo_scan_frame:
+              {}
+      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
+        hokuyo_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_hokuyo_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_hokuyo_scan_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: 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; 255; 255
+      Color Transformer: Intensity
+      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: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: hokuyo_base
+    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: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        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: 0.785398185
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398185
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000308000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 65
+  Y: 24

urdf/laser2d.gazebo

 <?xml version="1.0"?>
 <root xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="iri_laser2d_gazebo" params="name prefix config_file">
+  <xacro:macro name="iri_laser2d_gazebo" params="name prefix frame_id config_file">
     <xacro:property name="config" value="${config_file}"/>
     <xacro:property name="properties" value="${load_yaml(config)}"/>
 
@@ -34,11 +34,11 @@
           </noise>
         </ray>
         <plugin name="${name}_controller" filename="libgazebo_ros_laser.so">
-          <topicName>${name}_${properties['topic_name']}</topicName>
-          <frameName>${name}_${properties['frame_name']}</frameName>
+          <topicName>${properties['topic_name']}</topicName>
+          <!--<frameName>${name}_${properties['frame_name']}</frameName>-->
+          <frameName>${frame_id}</frameName>
         </plugin>
       </sensor>
     </gazebo>
   </xacro:macro>
-</root>
-
+</root>
\ No newline at end of file