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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 $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "
do
rm recordings/trajectory_recording$yamlname.bag
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 [[ ${yamlname:0:1} == 'G' ]]
then
tend=$(rosbag info -y -k end recordings/trajectory_recording$yamlname.bag)
......
<!-- -->
<launch>
<param name="use_sim_time" value="true" />
<arg name="record" default="true" />
<arg name="rviz" default="true" />
<arg name="speed" default="1" />
<arg name="sec" default="0" />
<arg name="profiling" default="false" />
......@@ -14,7 +16,9 @@
<!-- 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="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"
type="static_transform_publisher"
......@@ -42,10 +46,13 @@
required="true"
args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag"/>
<node type="rviz"
name="rviz"
pkg="rviz"
args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/>
<group if="$(arg rviz)">
<node type="rviz"
name="rviz"
pkg="rviz"
args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/>
</group>
<node type="wolf_ros_node"
name="wolf_ros_node"
pkg="wolf_ros_node"
......
......@@ -100,12 +100,12 @@ config:
topic: "/ana/sensors/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
topic: "/ana/sensors/bno055_imu/imumal"
sensor_name: "bno"
follow: "parameters/test_imu_subscriber_bno.yaml"
#-
# package: "wolf_ros_imu"
# type: "SubscriberImuEnableable"
# topic: "/ana/sensors/bno055_imu/imumal"
# sensor_name: "bno"
# follow: "parameters/test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
......
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