From 3842e2555ab51db9eac697e03d83b19a457cf0c6 Mon Sep 17 00:00:00 2001
From: Idril Geer <igeer@iri.upc.edu>
Date: Fri, 4 Feb 2022 15:57:49 +0100
Subject: [PATCH] work on yamls
---
launch/imu2d_demo.launch | 2 +-
yaml/imu2d_test0.yaml | 5 ++---
yaml/imu2d_test5.yaml | 13 +++++++++++++
3 files changed, 16 insertions(+), 4 deletions(-)
diff --git a/launch/imu2d_demo.launch b/launch/imu2d_demo.launch
index 505116d..7a30284 100644
--- a/launch/imu2d_demo.launch
+++ b/launch/imu2d_demo.launch
@@ -13,7 +13,7 @@
<!-- 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/trajectory_recording.bag -e "(.*)wolf_ros_node(.*)"'/>
+ <node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/trajectory_recording.bag "/wolf_ros_node/trajectory" "/wolf_ros_node/graph_trajectory" "/wolf_ros_node/pose_pos_array"'/>
<node pkg="tf"
type="static_transform_publisher"
diff --git a/yaml/imu2d_test0.yaml b/yaml/imu2d_test0.yaml
index 5504762..e8798ed 100644
--- a/yaml/imu2d_test0.yaml
+++ b/yaml/imu2d_test0.yaml
@@ -86,10 +86,9 @@ config:
viz_overlapped_factors: true
-
package: "wolf_ros_node"
- type: "PublisherPose"
- topic: "pose"
+ type: "PublisherTrajectory"
+ topic: "trajectory"
period: 1
- extrinsics: false
frame_id: "map"
-
package: "wolf_ros_laser"
diff --git a/yaml/imu2d_test5.yaml b/yaml/imu2d_test5.yaml
index e5243d4..d216840 100644
--- a/yaml/imu2d_test5.yaml
+++ b/yaml/imu2d_test5.yaml
@@ -118,6 +118,19 @@ config:
topic: "graph"
period: 1
viz_overlapped_factors: true
+ -
+ package: "wolf_ros_node"
+ type: "PublisherTrajectory"
+ topic: "trajectory"
+ period: 1
+ frame_id: "map"
+ -
+ package: "wolf_ros_node"
+ type: "PublisherPose"
+ topic: "pose"
+ extrinsics: false
+ period: 1
+ frame_id: "map"
-
package: "wolf_ros_laser"
type: "PublisherLaserMap"
--
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