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mobile_robotics
wolf_projects
wolf_ros
demos
wolf_demo_imu2d
Commits
1222e979
Commit
1222e979
authored
3 years ago
by
Idril-Tadzio Geer Cousté
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added rviz flag and removed bno subscriber
parent
ed3cdebb
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Changes
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3 changed files
bag/generate_trajectory_csv.bash
+1
-1
1 addition, 1 deletion
bag/generate_trajectory_csv.bash
launch/imu2d_analysys.launch
+12
-5
12 additions, 5 deletions
launch/imu2d_analysys.launch
yaml/trajectory_analysys/E-1_0.yaml
+6
-6
6 additions, 6 deletions
yaml/trajectory_analysys/E-1_0.yaml
with
19 additions
and
12 deletions
bag/generate_trajectory_csv.bash
+
1
−
1
View file @
1222e979
...
@@ -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
)
...
...
This diff is collapsed.
Click to expand it.
launch/imu2d_analysys.launch
+
12
−
5
View file @
1222e979
<!-- -->
<!-- -->
<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"
...
...
This diff is collapsed.
Click to expand it.
yaml/trajectory_analysys/E-1_0.yaml
+
6
−
6
View file @
1222e979
...
@@ -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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