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Commit 1222e979 authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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added rviz flag and removed bno subscriber

parent ed3cdebb
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...@@ -15,7 +15,7 @@ for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf " ...@@ -15,7 +15,7 @@ for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "
do do
rm recordings/trajectory_recording$yamlname.bag rm recordings/trajectory_recording$yamlname.bag
yamlname=${yamlfile%.*} yamlname=${yamlfile%.*}
roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=1 suffix:=$yamlname roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=1 suffix:=$yamlname rviz:=false
if [[ ${yamlname:0:1} == 'G' ]] if [[ ${yamlname:0:1} == 'G' ]]
then then
tend=$(rosbag info -y -k end recordings/trajectory_recording$yamlname.bag) tend=$(rosbag info -y -k end recordings/trajectory_recording$yamlname.bag)
......
<!-- --> <!-- -->
<launch> <launch>
<param name="use_sim_time" value="true" /> <param name="use_sim_time" value="true" />
<arg name="record" default="true" />
<arg name="rviz" default="true" />
<arg name="speed" default="1" /> <arg name="speed" default="1" />
<arg name="sec" default="0" /> <arg name="sec" default="0" />
<arg name="profiling" default="false" /> <arg name="profiling" default="false" />
...@@ -14,7 +16,9 @@ ...@@ -14,7 +16,9 @@
<!-- using "clock" option to use the simulated time. Rosbag launch as the first node --> <!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
<node pkg="rostopic" type="rostopic" name="" args='pub /helena/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/> <node pkg="rostopic" type="rostopic" name="" args='pub /helena/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/>
<node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/recordings/trajectory_recording$(arg suffix).bag "/wolf_ros_node/trajectory" "/wolf_ros_node/pose_pose_with_cov"'/> <group if="$(arg record)">
<node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/recordings/trajectory_recording$(arg suffix).bag "/wolf_ros_node/trajectory" "/wolf_ros_node/pose_pose_with_cov"'/>
</group>
<node pkg="tf" <node pkg="tf"
type="static_transform_publisher" type="static_transform_publisher"
...@@ -42,10 +46,13 @@ ...@@ -42,10 +46,13 @@
required="true" required="true"
args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag"/> args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag"/>
<node type="rviz" <group if="$(arg rviz)">
name="rviz" <node type="rviz"
pkg="rviz" name="rviz"
args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/> pkg="rviz"
args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/>
</group>
<node type="wolf_ros_node" <node type="wolf_ros_node"
name="wolf_ros_node" name="wolf_ros_node"
pkg="wolf_ros_node" pkg="wolf_ros_node"
......
...@@ -100,12 +100,12 @@ config: ...@@ -100,12 +100,12 @@ config:
topic: "/ana/sensors/scan" topic: "/ana/sensors/scan"
sensor_name: "scanner_front_left" sensor_name: "scanner_front_left"
load_params_from_msg: true load_params_from_msg: true
- #-
package: "wolf_ros_imu" # package: "wolf_ros_imu"
type: "SubscriberImuEnableable" # type: "SubscriberImuEnableable"
topic: "/ana/sensors/bno055_imu/imumal" # topic: "/ana/sensors/bno055_imu/imumal"
sensor_name: "bno" # sensor_name: "bno"
follow: "parameters/test_imu_subscriber_bno.yaml" # follow: "parameters/test_imu_subscriber_bno.yaml"
- -
package: "wolf_ros_imu" package: "wolf_ros_imu"
type: "SubscriberImuEnableable" type: "SubscriberImuEnableable"
......
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