diff --git a/config/hokuyo_utm30lx.yaml b/config/hokuyo_utm30lx.yaml
index 990a05d9d9e02dfa5231dd88ab34ad6d37bc93c9..cc2bf9803aa1200e47ae0599f0b63a3e2a2894d3 100644
--- a/config/hokuyo_utm30lx.yaml
+++ b/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
diff --git a/launch/hokuyo_laser2d_sim.launch b/launch/hokuyo_laser2d_sim.launch
index 156e27d863d94c6ffaa9df025de61cae12b58e00..7b759817bc668effacde95563158ce98c41c3b69 100644
--- a/launch/hokuyo_laser2d_sim.launch
+++ b/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>
diff --git a/rviz/laser.rviz b/rviz/laser.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..adf427e9d4102857aed26ded24e3b317b2c924b1
--- /dev/null
+++ b/rviz/laser.rviz
@@ -0,0 +1,195 @@
+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
diff --git a/urdf/laser2d.gazebo b/urdf/laser2d.gazebo
index 3dd1c5b7f29cada6b0f65837a9a66bfabf37d612..5c695280d171b2e2293806560b6da4ce4ffdb3af 100644
--- a/urdf/laser2d.gazebo
+++ b/urdf/laser2d.gazebo
@@ -1,6 +1,6 @@
<?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