Remove old odometry launch. Update rviz file

config/model_car.rviz

@@ -5,7 +5,6 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /CircuitModels1
         - /Sensors1
         - /Sensors1/GroundTruthOdometry1/Shape1
         - /Sensors1/Odometry1/Shape1
@@ -122,6 +121,16 @@ Visualization Manager:
           Value: true
         steer_right:
           Value: true
+        stop1_base_link:
+          Value: true
+        stop1_tag_image:
+          Value: true
+        stop1_tag_link:
+          Value: true
+        stop1_top_panel_image:
+          Value: true
+        stop1_top_panel_link:
+          Value: true
         world:
           Value: true
       Marker Scale: 0.25
@@ -130,55 +139,63 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        world:
-          map:
-            map_body:
-              {}
-            odom:
-              base_footprint:
-                base_link:
-                  body:
+        map:
+          map_body:
+            {}
+          odom:
+            base_footprint:
+              base_link:
+                body:
+                  {}
+                front_camera_uvc_camera_base:
+                  front_camera_uvc_camera_optical:
+                    {}
+                front_lidar_rplidar_base:
+                  front_lidar_rplidar_scan_frame:
+                    {}
+                imu_mpu9250_base:
+                  imu_mpu9250:
                     {}
-                  front_camera_uvc_camera_base:
-                    front_camera_uvc_camera_optical:
-                      {}
-                  front_lidar_rplidar_base:
-                    front_lidar_rplidar_scan_frame:
-                      {}
-                  imu_mpu9250_base:
-                    imu_mpu9250:
-                      {}
-                  rear_camera_uvc_camera_base:
-                    rear_camera_uvc_camera_optical:
-                      {}
-                  rear_center_base:
-                    rear_center_ranger1d:
-                      {}
-                  rear_left_base:
-                    rear_left_ranger1d:
-                      {}
-                  rear_left_wheel:
+                rear_camera_uvc_camera_base:
+                  rear_camera_uvc_camera_optical:
                     {}
-                  rear_right_base:
-                    rear_right_ranger1d:
-                      {}
-                  rear_right_wheel:
+                rear_center_base:
+                  rear_center_ranger1d:
                     {}
-                  side_left_base:
-                    side_left_ranger1d:
-                      {}
-                  side_right_base:
-                    side_right_ranger1d:
-                      {}
-                  steer_left:
-                    front_left_wheel:
-                      {}
-                  steer_right:
-                    front_right_wheel:
-                      {}
-            road0_link:
-              road0_image:
+                rear_left_base:
+                  rear_left_ranger1d:
+                    {}
+                rear_left_wheel:
+                  {}
+                rear_right_base:
+                  rear_right_ranger1d:
+                    {}
+                rear_right_wheel:
+                  {}
+                side_left_base:
+                  side_left_ranger1d:
+                    {}
+                side_right_base:
+                  side_right_ranger1d:
+                    {}
+                steer_left:
+                  front_left_wheel:
+                    {}
+                steer_right:
+                  front_right_wheel:
+                    {}
+          road0_link:
+            road0_image:
+              {}
+          stop1_base_link:
+            stop1_tag_link:
+              stop1_tag_image:
+                {}
+            stop1_top_panel_link:
+              stop1_top_panel_image:
                 {}
+        world:
+          {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -331,31 +348,29 @@ Visualization Manager:
             Expand Link Details: false
             Expand Tree: false
             Link Tree Style: Links in Alphabetic Order
-            map:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            map_body:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            road0_image:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            road0_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
           Name: RoadModel
           Robot Description: road_description
           TF Prefix: ""
           Update Interval: 0
           Value: true
           Visual Enabled: true
-      Enabled: 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
+          Name: stop1Model
+          Robot Description: stop1_description
+          TF Prefix: ""
+          Update Interval: 0
+          Value: true
+          Visual Enabled: true
+      Enabled: false
       Name: CircuitModels
     - Class: rviz/Group
       Displays:
@@ -529,9 +544,9 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 5.53419047e-11
+          Max Intensity: 999999
           Min Color: 0; 0; 0
-          Min Intensity: 8.40779079e-45
+          Min Intensity: -999999
           Name: RP_Lidar
           Position Transformer: XYZ
           Queue Size: 10
@@ -571,7 +586,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 15.7351933
+      Distance: 10
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1

launch/odometry.launch

-<!-- -->
-<launch>
-  <arg name="x"     default="0.0"/>
-  <arg name="y"     default="-0.2"/>
-  <arg name="yaw"   default="0.0"/>
-  
-  <node pkg ="odometry" 
-        type="odometry_publisher"
-        name="odometry_publisher"
-        output="screen">
-          <param name="file_name" value="$(find odometry)/cfg/SteerAngleActuator.xml" />
-          <param name="model_car_yaw" value="/yaw" />
-          <param name="model_car_twist" value="/twist" />
-          <param name="steering_command" value="/steering" />
-          <param name="initial_x" value="$(arg x)" />   <!--meters-->
-          <param name="initial_y" value="$(arg y)" />   <!--meters-->
-          <param name="initial_yaw" value="$(arg yaw)" /> <!--radian-->
-          <param name="bicycle_model" value="true" /> <!--use just bicycle model-->
-          <param name="servo_with_feedback" value="true" /> <!--use just bicycle model-->
-  </node>
-
-</launch>