remaping of topics

launch/imu2d_demo.launch

 <!-- -->
 <launch>
-    <param name="use_sim_time" value="true" />
     <arg name="record" default="true" />
     <arg name="rviz" default="true" />
     <arg name="speed" default="1" />
@@ -13,47 +12,71 @@
     <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
     <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
     <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
-    <!-- using "clock" option to use the simulated time. Rosbag launch as the first node  -->
+    <arg name="robot" default="ana" /> <!-- ana or helena -->
 
-    <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 /imu_bno/enable std_msgs/Bool "data: True"'/>
+    <node pkg="rostopic" type="rostopic" name="" args='pub /imu_micro/enable std_msgs/Bool "data: True"'/>
+
+    <!-- RECORD -->
     <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"'/>
+      <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"
-          name="static_tf"
-      args="0 0 0 0 0 0 /ana/base_footprint /ana/base_link  100"/>
+    <!-- TF -->
+    <group>
+      <!-- <node pkg="tf"
+            type="static_transform_publisher"
+            name="static_tf"
+            args="0 0 0 0 0 0 /base_footprint /base_link  100"/>
 
-    <node pkg="tf"
-          type="static_transform_publisher"
-          name="static_tf2"
-      args="0 0 0 0 0 0 /ana/base_link /ana/imu_bno055  100"/>
+      <node pkg="tf"
+            type="static_transform_publisher"
+            name="static_tf2"
+            args="0 0 0 0 0 0 /base_link /imu_bno055 100"/>
 
-    <node pkg="tf"
-          type="static_transform_publisher"
-          name="static_tf3"
-      args="0 0 0 3.14159265 0 0 /ana/base_link /ana/velodyne  100"/>
+      <node pkg="tf"
+            type="static_transform_publisher"
+            name="static_tf3"
+            args="0 0 0 3.14159265 0 0 /base_link /velodyne  100"/> -->
 
-    <node pkg="tf"
-          type="static_transform_publisher"
-          name="static_tf4"
-      args="-0.11 0.01 0 0 0 0 /ana/base_link /ana/imu_microstrain  100"/>
+      <node pkg="tf"
+            type="static_transform_publisher"
+            name="static_tf4"
+            args="-0.11 0.01 0 0 0 0 /$(arg robot)/base_link /imu 100"/>
 
+      <node pkg="tf"
+            type="static_transform_publisher"
+            name="static_tf5"
+            args="-0.11 0.01 0 0 0 0 /$(arg robot)/base_link /$(arg robot)/imu_microstrain 100"/>
+    </group>
+
+    <!-- using "clock" option to use the simulated time. Rosbag launch as the first node  -->
+    <param name="use_sim_time" value="true" />
     <node pkg="rosbag"
     	  type="play"
     	  name="player"
         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">
+        <remap from="/$(arg robot)/sensors/imu/data" to="/imu_micro"/>
+        <remap from="/$(arg robot)/imu/data" to="/imu_micro"/>
+        <remap from="/$(arg robot)/sensors/bno055/imu" to="/imu_bno"/>
+        <remap from="/$(arg robot)/sensors/scan" to="/scan"/>
+        <remap from="/$(arg robot)/odom" to="/odom"/>
+        <remap from="/$(arg robot)/sensors/ublox_gps/raw_data_stream" to="/ublox_gps/raw_data_stream"/>
+    </node>      
 
+    <!-- RVIZ -->
     <group if="$(arg rviz)">
       <node type="rviz"
             name="rviz"
             pkg="rviz"
-            args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/>
+            args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo_$(arg robot).rviz"/>
     </group>
 
+    <!-- WOLF -->
     <node type="wolf_ros_node"
     	    name="wolf_ros_node"
     	    pkg="wolf_ros_node"

rviz/imu2d_demo.rviz

@@ -5,7 +5,6 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /TF1
         - /TF1/Frames1
         - /TF1/Tree1
         - /Odometry1/Shape1
@@ -17,9 +16,8 @@ Panels:
         - /Trajectory1/Namespaces1
         - /Axes1
         - /PointCloud21
-        - /Imu1
-      Splitter Ratio: 0.5285326242446899
-    Tree Height: 728
+      Splitter Ratio: 0.708737850189209
+    Tree Height: 839
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -38,7 +36,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: LaserScan
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -69,22 +67,79 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        ana/base_footprint:
+        helena/base_footprint:
           Value: false
-        ana/base_footprint_robot:
-          Value: false
-        ana/base_link:
+        helena/base_link:
           Value: true
-        ana/imu_bno055:
+        helena/camera_bottom_screw_frame:
+          Value: false
+        helena/camera_color_frame:
+          Value: false
+        helena/camera_color_optical_frame:
+          Value: false
+        helena/camera_depth_frame:
+          Value: false
+        helena/camera_depth_optical_frame:
+          Value: false
+        helena/camera_infra1_frame:
+          Value: false
+        helena/camera_infra1_optical_frame:
+          Value: false
+        helena/camera_infra2_frame:
+          Value: false
+        helena/camera_infra2_optical_frame:
+          Value: false
+        helena/camera_link:
+          Value: false
+        helena/front_left_axle:
           Value: false
-        ana/imu_microstrain:
+        helena/front_left_hub:
           Value: false
-        ana/odom:
+        helena/front_left_wheel:
+          Value: false
+        helena/front_right_axle:
+          Value: false
+        helena/front_right_hub:
+          Value: false
+        helena/front_right_wheel:
+          Value: false
+        helena/front_sonar:
+          Value: false
+        helena/helena_box:
+          Value: false
+        helena/helena_realsense_support:
+          Value: false
+        helena/imu_bno055:
+          Value: false
+        helena/imu_bno055_base:
+          Value: false
+        helena/odom:
           Value: true
-        ana/velodyne:
+        helena/rear_left_axle:
           Value: false
-        map:
+        helena/rear_left_hub:
+          Value: false
+        helena/rear_left_wheel:
           Value: false
+        helena/rear_right_axle:
+          Value: false
+        helena/rear_right_hub:
+          Value: false
+        helena/rear_right_wheel:
+          Value: false
+        helena/rear_sonar:
+          Value: false
+        helena/robosense:
+          Value: false
+        helena/robosense_base:
+          Value: false
+        helena/top_plate:
+          Value: false
+        imu:
+          Value: true
+        map:
+          Value: true
+      Marker Alpha: 1
       Marker Scale: 5
       Name: TF
       Show Arrows: false
@@ -92,17 +147,55 @@ Visualization Manager:
       Show Names: true
       Tree:
         map:
-          ana/odom:
-            ana/base_footprint:
-              ana/base_link:
-                ana/imu_bno055:
+          helena/odom:
+            helena/base_footprint:
+              helena/base_link:
+                helena/front_left_axle:
+                  helena/front_left_hub:
+                    helena/front_left_wheel:
+                      {}
+                helena/front_right_axle:
+                  helena/front_right_hub:
+                    helena/front_right_wheel:
+                      {}
+                helena/front_sonar:
+                  {}
+                helena/rear_left_axle:
+                  helena/rear_left_hub:
+                    helena/rear_left_wheel:
+                      {}
+                helena/rear_right_axle:
+                  helena/rear_right_hub:
+                    helena/rear_right_wheel:
+                      {}
+                helena/rear_sonar:
                   {}
-                ana/imu_microstrain:
+                helena/top_plate:
+                  helena/helena_box:
+                    {}
+                  helena/helena_realsense_support:
+                    helena/camera_bottom_screw_frame:
+                      helena/camera_link:
+                        helena/camera_color_frame:
+                          helena/camera_color_optical_frame:
+                            {}
+                        helena/camera_depth_frame:
+                          helena/camera_depth_optical_frame:
+                            {}
+                        helena/camera_infra1_frame:
+                          helena/camera_infra1_optical_frame:
+                            {}
+                        helena/camera_infra2_frame:
+                          helena/camera_infra2_optical_frame:
+                            {}
+                  helena/robosense_base:
+                    helena/robosense:
+                      {}
+                imu:
                   {}
-                ana/velodyne:
+              helena/imu_bno055_base:
+                helena/imu_bno055:
                   {}
-            ana/base_footprint_robot:
-              {}
       Update Interval: 0
       Value: true
     - Angle Tolerance: 0.10000000149011612
@@ -126,6 +219,7 @@ Visualization Manager:
       Keep: 300
       Name: Odometry
       Position Tolerance: 0.10000000149011612
+      Queue Size: 10
       Shape:
         Alpha: 1
         Axes Length: 1
@@ -151,7 +245,7 @@ Visualization Manager:
       Color: 250; 84; 255
       Color Transformer: FlatColor
       Decay Time: 10
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -162,11 +256,11 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.05999999865889549
       Style: Flat Squares
-      Topic: /ana/sensors/scan
+      Topic: /scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Class: rviz/MarkerArray
       Enabled: false
       Marker Topic: /wolf_ros_node/graph_landmarks
@@ -180,35 +274,26 @@ Visualization Manager:
       Marker Topic: /wolf_ros_node/graph_factors
       Name: Factors
       Namespaces:
-        factors_processorimu2dbno: true
-        factors_processorimu2dmicro: true
-        factors_processorloopclosureicp: true
-        factors_processorodom2d: true
         factors_processorodomicp: true
-        factors_text_processorimu2dbno: false
-        factors_text_processorimu2dmicro: false
-        factors_text_processorloopclosureicp: false
-        factors_text_processorodom2d: false
         factors_text_processorodomicp: false
-        factors_text_unnamed_processor: false
-        factors_unnamed_processor: true
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
-      Enabled: true
+      Enabled: false
       Marker Topic: /wolf_ros_node/graph_trajectory
       Name: Trajectory
       Namespaces:
-        frames: false
-        frames_text: false
+        {}
       Queue Size: 100
-      Value: true
-    - Class: rviz/Axes
+      Value: false
+    - Alpha: 1
+      Class: rviz/Axes
       Enabled: true
       Length: 1
       Name: Axes
       Radius: 0.10000000149011612
-      Reference Frame: ana/base_link
+      Reference Frame: helena/base_link
+      Show Trail: false
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
@@ -254,7 +339,8 @@ Visualization Manager:
       Enabled: true
       History Length: 1
       Name: Imu
-      Topic: /ana/imu/data_remapped
+      Queue Size: 10
+      Topic: /imu_micro
       Unreliable: false
       Value: true
   Enabled: true
@@ -285,12 +371,13 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 27.63036346435547
+      Distance: 29.216249465942383
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 2.3574845790863037
         Y: -1.3090972900390625
@@ -300,10 +387,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7247968912124634
+      Pitch: 0.5097973346710205
       Target Frame: map
-      Value: Orbit (rviz)
-      Yaw: 5.4131693840026855
+      Yaw: 4.688166618347168
     Saved:
       - Angle: 0
         Class: rviz/TopDownOrtho
@@ -317,7 +403,6 @@ Visualization Manager:
         Near Clip Distance: 0.009999999776482582
         Scale: 64.65961456298828
         Target Frame: map
-        Value: TopDownOrtho (rviz)
         X: 8.825014114379883
         Y: -0.17566636204719543
       - Angle: 0
@@ -332,7 +417,6 @@ Visualization Manager:
         Near Clip Distance: 0.009999999776482582
         Scale: 50.07240295410156
         Target Frame: map
-        Value: TopDownOrtho (rviz)
         X: 1.947830080986023
         Y: 3.9687037467956543
       - Angle: -1.5700000524520874
@@ -347,16 +431,15 @@ Visualization Manager:
         Near Clip Distance: 0.009999999776482582
         Scale: 42.187442779541016
         Target Frame: map
-        Value: TopDownOrtho (rviz)
         X: 1.9746785163879395
         Y: 4.48727560043335
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1136
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000002e200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004550000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -365,6 +448,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1853
-  X: 67
+  Width: 1858
+  X: 62
   Y: 27

rviz/imu2d_demo_ana.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Status1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Odometry1/Shape1
+        - /Landmarks1
+        - /Factors1
+        - /Factors1/Namespaces1
+        - /Trajectory1
+        - /Trajectory1/Namespaces1
+        - /Axes1
+        - /PointCloud21
+      Splitter Ratio: 0.708737850189209
+    Tree Height: 839
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 5
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        ana/ana_box:
+          Value: false
+        ana/ana_realsense_support:
+          Value: false
+        ana/base_footprint:
+          Value: false
+        ana/base_footprint_robot:
+          Value: false
+        ana/base_link:
+          Value: true
+        ana/camera_aligned_depth_to_color_frame:
+          Value: false
+        ana/camera_aligned_depth_to_infra1_frame:
+          Value: false
+        ana/camera_bottom_screw_frame:
+          Value: false
+        ana/camera_color_frame:
+          Value: false
+        ana/camera_color_optical_frame:
+          Value: false
+        ana/camera_depth_frame:
+          Value: false
+        ana/camera_depth_optical_frame:
+          Value: false
+        ana/camera_infra1_frame:
+          Value: false
+        ana/camera_infra1_optical_frame:
+          Value: false
+        ana/camera_infra2_frame:
+          Value: false
+        ana/camera_infra2_optical_frame:
+          Value: false
+        ana/camera_link:
+          Value: false
+        ana/camera_pan_tilt_bottom_screw_frame:
+          Value: false
+        ana/camera_pan_tilt_color_frame:
+          Value: false
+        ana/camera_pan_tilt_color_optical_frame:
+          Value: false
+        ana/camera_pan_tilt_depth_frame:
+          Value: false
+        ana/camera_pan_tilt_depth_optical_frame:
+          Value: false
+        ana/camera_pan_tilt_infra1_frame:
+          Value: false
+        ana/camera_pan_tilt_infra1_optical_frame:
+          Value: false
+        ana/camera_pan_tilt_infra2_frame:
+          Value: false
+        ana/camera_pan_tilt_infra2_optical_frame:
+          Value: false
+        ana/camera_pan_tilt_link:
+          Value: false
+        ana/front_left_axle:
+          Value: false
+        ana/front_left_hub:
+          Value: false
+        ana/front_left_wheel:
+          Value: false
+        ana/front_right_axle:
+          Value: false
+        ana/front_right_hub:
+          Value: false
+        ana/front_right_wheel:
+          Value: false
+        ana/front_sonar:
+          Value: false
+        ana/imu_bno055:
+          Value: false
+        ana/imu_bno055_base:
+          Value: false
+        ana/imu_microstrain:
+          Value: false
+        ana/odom:
+          Value: true
+        ana/pan_frame:
+          Value: false
+        ana/realsense_support_pan_tilt:
+          Value: false
+        ana/rear_left_axle:
+          Value: false
+        ana/rear_left_hub:
+          Value: false
+        ana/rear_left_wheel:
+          Value: false
+        ana/rear_right_axle:
+          Value: false
+        ana/rear_right_hub:
+          Value: false
+        ana/rear_right_wheel:
+          Value: false
+        ana/rear_sonar:
+          Value: false
+        ana/top_plate:
+          Value: false
+        ana/velodyne:
+          Value: false
+        ana/velodyne_base:
+          Value: false
+        camera_accel_frame:
+          Value: false
+        camera_accel_optical_frame:
+          Value: false
+        camera_gyro_frame:
+          Value: false
+        camera_gyro_optical_frame:
+          Value: false
+        imu:
+          Value: false
+        map:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          ana/odom:
+            ana/base_footprint:
+              ana/base_link:
+                ana/front_left_axle:
+                  ana/front_left_hub:
+                    ana/front_left_wheel:
+                      {}
+                ana/front_right_axle:
+                  ana/front_right_hub:
+                    ana/front_right_wheel:
+                      {}
+                ana/front_sonar:
+                  {}
+                ana/imu_microstrain:
+                  {}
+                ana/rear_left_axle:
+                  ana/rear_left_hub:
+                    ana/rear_left_wheel:
+                      {}
+                ana/rear_right_axle:
+                  ana/rear_right_hub:
+                    ana/rear_right_wheel:
+                      {}
+                ana/rear_sonar:
+                  {}
+                ana/top_plate:
+                  ana/ana_box:
+                    ana/pan_frame:
+                      {}
+                  ana/ana_realsense_support:
+                    ana/camera_bottom_screw_frame:
+                      ana/camera_link:
+                        ana/camera_aligned_depth_to_color_frame:
+                          {}
+                        ana/camera_aligned_depth_to_infra1_frame:
+                          {}
+                        ana/camera_color_frame:
+                          ana/camera_color_optical_frame:
+                            {}
+                        ana/camera_depth_frame:
+                          ana/camera_depth_optical_frame:
+                            {}
+                        ana/camera_infra1_frame:
+                          ana/camera_infra1_optical_frame:
+                            {}
+                        ana/camera_infra2_frame:
+                          ana/camera_infra2_optical_frame:
+                            {}
+                        camera_accel_frame:
+                          camera_accel_optical_frame:
+                            {}
+                        camera_gyro_frame:
+                          camera_gyro_optical_frame:
+                            {}
+                  ana/velodyne_base:
+                    ana/velodyne:
+                      {}
+                imu:
+                  {}
+              ana/imu_bno055_base:
+                ana/imu_bno055:
+                  {}
+            ana/base_footprint_robot:
+              {}
+      Update Interval: 0
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: false
+      Keep: 300
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.10000000149011612
+        Head Radius: 0.10000000149011612
+        Shaft Length: 0.30000001192092896
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /ana/odom
+      Unreliable: false
+      Value: false
+    - Alpha: 0.5
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensities
+      Class: rviz/LaserScan
+      Color: 250; 84; 255
+      Color Transformer: FlatColor
+      Decay Time: 10
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 1
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05999999865889549
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /wolf_ros_node/graph_landmarks
+      Name: Landmarks
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /wolf_ros_node/graph_factors
+      Name: Factors
+      Namespaces:
+        factors_processorodomicp: true
+        factors_text_processorodomicp: false
+      Queue Size: 100
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /wolf_ros_node/graph_trajectory
+      Name: Trajectory
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: ana/base_link
+      Show Trail: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0
+        Min Value: 0
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 0; 170; 0
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 173; 14
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 1
+      Selectable: false
+      Size (Pixels): 3
+      Size (m): 0.03999999910593033
+      Style: Squares
+      Topic: /wolf_ros_node/map_pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Map
+      Topic: /wolf_ros_node/map_occgrid
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.5
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu
+      Queue Size: 10
+      Topic: /imu_micro
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 29.216249465942383
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 2.3574845790863037
+        Y: -1.3090972900390625
+        Z: -0.7893345952033997
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5097973346710205
+      Target Frame: map
+      Yaw: 4.688166618347168
+    Saved:
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 64.65961456298828
+        Target Frame: map
+        X: 8.825014114379883
+        Y: -0.17566636204719543
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 50.07240295410156
+        Target Frame: map
+        X: 1.947830080986023
+        Y: 3.9687037467956543
+      - Angle: -1.5700000524520874
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 42.187442779541016
+        Target Frame: map
+        X: 1.9746785163879395
+        Y: 4.48727560043335
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1136
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1858
+  X: 62
+  Y: 27

rviz/imu2d_demo_helena.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Odometry1/Shape1
+        - /LaserScan1
+        - /Landmarks1
+        - /Factors1
+        - /Factors1/Namespaces1
+        - /Trajectory1
+        - /Trajectory1/Namespaces1
+        - /Axes1
+        - /PointCloud21
+        - /Imu1
+      Splitter Ratio: 0.708737850189209
+    Tree Height: 839
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 5
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        helena/base_footprint:
+          Value: false
+        helena/base_link:
+          Value: true
+        helena/camera_bottom_screw_frame:
+          Value: false
+        helena/camera_color_frame:
+          Value: false
+        helena/camera_color_optical_frame:
+          Value: false
+        helena/camera_depth_frame:
+          Value: false
+        helena/camera_depth_optical_frame:
+          Value: false
+        helena/camera_infra1_frame:
+          Value: false
+        helena/camera_infra1_optical_frame:
+          Value: false
+        helena/camera_infra2_frame:
+          Value: false
+        helena/camera_infra2_optical_frame:
+          Value: false
+        helena/camera_link:
+          Value: false
+        helena/front_left_axle:
+          Value: false
+        helena/front_left_hub:
+          Value: false
+        helena/front_left_wheel:
+          Value: false
+        helena/front_right_axle:
+          Value: false
+        helena/front_right_hub:
+          Value: false
+        helena/front_right_wheel:
+          Value: false
+        helena/front_sonar:
+          Value: false
+        helena/helena_box:
+          Value: false
+        helena/helena_realsense_support:
+          Value: false
+        helena/imu_bno055:
+          Value: false
+        helena/imu_bno055_base:
+          Value: false
+        helena/imu_microstrain:
+          Value: true
+        helena/odom:
+          Value: true
+        helena/rear_left_axle:
+          Value: false
+        helena/rear_left_hub:
+          Value: false
+        helena/rear_left_wheel:
+          Value: false
+        helena/rear_right_axle:
+          Value: false
+        helena/rear_right_hub:
+          Value: false
+        helena/rear_right_wheel:
+          Value: false
+        helena/rear_sonar:
+          Value: false
+        helena/robosense:
+          Value: false
+        helena/robosense_base:
+          Value: false
+        helena/top_plate:
+          Value: false
+        imu:
+          Value: true
+        map:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          helena/odom:
+            helena/base_footprint:
+              helena/base_link:
+                helena/front_left_axle:
+                  helena/front_left_hub:
+                    helena/front_left_wheel:
+                      {}
+                helena/front_right_axle:
+                  helena/front_right_hub:
+                    helena/front_right_wheel:
+                      {}
+                helena/front_sonar:
+                  {}
+                helena/imu_microstrain:
+                  {}
+                helena/rear_left_axle:
+                  helena/rear_left_hub:
+                    helena/rear_left_wheel:
+                      {}
+                helena/rear_right_axle:
+                  helena/rear_right_hub:
+                    helena/rear_right_wheel:
+                      {}
+                helena/rear_sonar:
+                  {}
+                helena/top_plate:
+                  helena/helena_box:
+                    {}
+                  helena/helena_realsense_support:
+                    helena/camera_bottom_screw_frame:
+                      helena/camera_link:
+                        helena/camera_color_frame:
+                          helena/camera_color_optical_frame:
+                            {}
+                        helena/camera_depth_frame:
+                          helena/camera_depth_optical_frame:
+                            {}
+                        helena/camera_infra1_frame:
+                          helena/camera_infra1_optical_frame:
+                            {}
+                        helena/camera_infra2_frame:
+                          helena/camera_infra2_optical_frame:
+                            {}
+                  helena/robosense_base:
+                    helena/robosense:
+                      {}
+                imu:
+                  {}
+              helena/imu_bno055_base:
+                helena/imu_bno055:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: false
+      Keep: 300
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.10000000149011612
+        Head Radius: 0.10000000149011612
+        Shaft Length: 0.30000001192092896
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /ana/odom
+      Unreliable: false
+      Value: false
+    - Alpha: 0.5
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensities
+      Class: rviz/LaserScan
+      Color: 250; 84; 255
+      Color Transformer: FlatColor
+      Decay Time: 10
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 1
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05999999865889549
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /wolf_ros_node/graph_landmarks
+      Name: Landmarks
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /wolf_ros_node/graph_factors
+      Name: Factors
+      Namespaces:
+        factors_processorimumicro: true
+        factors_processorodomicp: true
+        factors_text_processorimumicro: false
+        factors_text_processorodomicp: false
+        factors_text_unnamed_processor: false
+        factors_unnamed_processor: true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /wolf_ros_node/graph_trajectory
+      Name: Trajectory
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: helena/base_link
+      Show Trail: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0
+        Min Value: 0
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 0; 170; 0
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 173; 14
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 1
+      Selectable: false
+      Size (Pixels): 3
+      Size (m): 0.03999999910593033
+      Style: Squares
+      Topic: /wolf_ros_node/map_pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Map
+      Topic: /wolf_ros_node/map_occgrid
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.5
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu
+      Queue Size: 10
+      Topic: /imu_micro_remapped
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 32.773921966552734
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 2.3574845790863037
+        Y: -1.3090972900390625
+        Z: -0.7893345952033997
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7547971606254578
+      Target Frame: map
+      Yaw: 0.05999409034848213
+    Saved:
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 64.65961456298828
+        Target Frame: map
+        X: 8.825014114379883
+        Y: -0.17566636204719543
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 50.07240295410156
+        Target Frame: map
+        X: 1.947830080986023
+        Y: 3.9687037467956543
+      - Angle: -1.5700000524520874
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.009999999776482582
+        Scale: 42.187442779541016
+        Target Frame: map
+        X: 1.9746785163879395
+        Y: 4.48727560043335
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1136
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1858
+  X: 62
+  Y: 27

yaml/imu2d_test0.yaml

@@ -67,7 +67,7 @@ config:
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/ana/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
 

yaml/imu2d_test1.yaml

@@ -99,24 +99,24 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberOdom2d"
-      topic: "/ana/odom"
+      topic: "/odom"
       sensor_name: "odom2d"
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/ana/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
-      topic: "/ana/sensors/bno055_imu/imu"
+      topic: "/imu_bno"
       sensor_name: "bno"
       follow: "test_imu_subscriber_bno.yaml"
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
-      topic: "/ana/imu/data"
+      topic: "/imu_micro"
       sensor_name: "microstrain"
       follow: "test_imu_subscriber_microstrain.yaml"
 

yaml/imu2d_test10.yaml

 config:
   debug:
     profiling: true
-    profiling_file: "~/wolf_demo_profiling_imu2d_test0.txt"
+    profiling_file: "~/wolf_demo_profiling_imu2d_test10.txt"
     print_problem: false
     print_period: 2
     print_depth: 4
@@ -12,14 +12,6 @@ config:
     tree_manager:
       type: "none"
     frame_structure: "POV"
-    # dimension: 2
-    # prior:
-    #   mode: "fix"
-    #   $state:
-    #     P: [0,0]
-    #     O: [0]
-    #     V: [0,0]
-    #   time_tolerance: 0.1
     dimension: 3
     prior:
       mode: "fix"
@@ -50,32 +42,12 @@ config:
       sensor_name: "scanner_front_left"
       plugin: "laser"
       follow: "test_laser_processor.yaml"
-    # -
-    #   type: "ProcessorLoopClosureIcp"
-    #   name: "processorloopclosureicp"
-    #   sensor_name: "scanner_front_left"
-    #   plugin: "laser"
-    #   time_tolerance: 0.1
-    #   apply_loss_function: true
-    #   keyframe_vote:
-    #     voting_active: false
-    #   recent_frames_ignored: 3
-    #   frames_ignored_after_loop: 0
-    #   max_error_threshold: 0.02
-    #   min_points_percent: 40
-    #   max_loops: 3
-    #   max_candidates: 5
-    #   max_attempts: 15
-    #   candidate_generation: "random" # 'random' or 'tree'
-    #   icp:
-    #     follow: "csm.yaml"
-
       
   ROS subscriber:
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/ana/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
 

yaml/imu2d_test15.yaml

@@ -12,14 +12,6 @@ config:
     tree_manager:
       type: "none"
     frame_structure: "POV"
-    # dimension: 2
-    # prior:
-    #   mode: "fix"
-    #   $state:
-    #     P: [0,0]
-    #     O: [0]
-    #     V: [0,0]
-    #   time_tolerance: 0.1
     dimension: 3
     prior:
       mode: "factor"
@@ -47,13 +39,13 @@ config:
       name: "scanner_front_left"
       plugin: "laser"
       follow: "test_laser_params.yaml"
-    -
-      type: "SensorImu"
-      name: "bno"
-      plugin: "imu"
-      extrinsic:
-        pose: [0,0,0,0,0,0,1]  
-      follow: "test_imu_params_bno.yaml" 
+    # -
+    #   type: "SensorImu"
+    #   name: "bno"
+    #   plugin: "imu"
+    #   extrinsic:
+    #     pose: [0,0,0,0,0,0,1]  
+    #   follow: "test_imu_params_bno.yaml" 
     -
       type: "SensorImu"
       name: "microstrain"
@@ -70,30 +62,11 @@ config:
       plugin: "laser"
       follow: "test_laser_processor.yaml"
     # -
-    #   type: "ProcessorLoopClosureIcp"
-    #   name: "processorloopclosureicp"
-    #   sensor_name: "scanner_front_left"
-    #   plugin: "laser"
-    #   time_tolerance: 0.1
-    #   apply_loss_function: true
-    #   keyframe_vote:
-    #     voting_active: false
-    #   recent_frames_ignored: 10
-    #   frames_ignored_after_loop: 0
-    #   max_error_threshold: 0.02
-    #   min_points_percent: 40
-    #   max_loops: 1
-    #   max_candidates: 5
-    #   max_attempts: 5
-    #   candidate_generation: "random" # 'random' or 'tree'
-    #   icp:
-    #     follow: "csm.yaml"
-    -
-      type: "ProcessorImu"
-      name: "processorimubno"
-      sensor_name: "bno"
-      plugin: "imu"
-      follow: "test_imu_processor_bno.yaml"
+    #   type: "ProcessorImu"
+    #   name: "processorimubno"
+    #   sensor_name: "bno"
+    #   plugin: "imu"
+    #   follow: "test_imu_processor_bno.yaml"
     -
       type: "ProcessorImu"
       name: "processorimumicro"
@@ -105,22 +78,19 @@ config:
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      # topic: "/ana/sensors/scan"
-      topic: "/helena/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
+    # -
+    #   package: "wolf_ros_imu"
+    #   type: "SubscriberImuEnableable"
+    #   topic: "/imu_bnomal"
+    #   sensor_name: "bno"
+    #   follow: "test_imu_subscriber_bno.yaml"
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
-      # topic: "/ana/sensors/bno055_imu/imumal"
-      topic: "/helena/sensors/bno055_imu/imumal"
-      sensor_name: "bno"
-      follow: "test_imu_subscriber_bno.yaml"
-    -
-      package: "wolf_ros_imu"
-      type: "SubscriberImuEnableable"
-      # topic: "/ana/imu/data"
-      topic: "/helena/imu/data"
+      topic: "/imu_micro"
       sensor_name: "microstrain"
       follow: "test_imu_subscriber_microstrain.yaml"
 

yaml/imu2d_test2.yaml

@@ -56,12 +56,12 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberOdom2d"
-      topic: "/helena/odom"
+      topic: "/odom"
       sensor_name: "odom2d"
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/helena/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
 

yaml/imu2d_test3.yaml

@@ -77,21 +77,21 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberOdom2d"
-      topic: "/ana/odom"
+      topic: "/odom"
       sensor_name: "odom2d"
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/ana/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
-      topic: "/ana/sensors/bno055_imu/imu"
+      topic: "/imu_bno"
+      # topic: "/imu_micro"
       sensor_name: "bno"
-      #topic: "/ana/imu/data"
-      #sensor_name: "microstrain"
+      # sensor_name: "microstrain"
       follow: "test_imu_subscriber.yaml"
 
   ROS publisher:

yaml/imu2d_test4.yaml

@@ -69,17 +69,17 @@ config:
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/helena/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
       ##bno
-      #topic: "/ana/sensors/bno055_imu/imu"
+      #topic: "/imu_bno"
       #sensor_name: "bno"
       #microstrain
-      topic: "/helena/sensors/imu/data"
+      topic: "/imu_micro"
       sensor_name: "microstrain"
       follow: "test_imu_subscriber.yaml"
 

yaml/imu2d_test5.yaml

@@ -89,19 +89,19 @@ config:
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/ana/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
-      topic: "/ana/sensors/bno055_imu/imumal"
+      topic: "/imu_bnomal"
       sensor_name: "bno"
       follow: "test_imu_subscriber_bno.yaml"
     -
       package: "wolf_ros_imu"
       type: "SubscriberImuEnableable"
-      topic: "/ana/imu/data"
+      topic: "/imu_micro"
       sensor_name: "microstrain"
       follow: "test_imu_subscriber_microstrain.yaml"
 

yaml/imu2d_test6.yaml

@@ -55,12 +55,12 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberOdom2d"
-      topic: "/ana/odom"
+      topic: "/odom"
       sensor_name: "odom2d"
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/ana/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
 

yaml/imu2d_test7.yaml

@@ -68,18 +68,18 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberOdom2d"
-      topic: "/helena/odom"
+      topic: "/odom"
       sensor_name: "odom2d"
     -
       package: "wolf_ros_laser"
       type: "SubscriberLaser2d"
-      topic: "/helena/sensors/scan"
+      topic: "/scan"
       sensor_name: "scanner_front_left"
       load_params_from_msg: true
     -
       package: "wolf_ros_gnss"
       type: "SubscriberGnssUblox"
-      topic: "/helena/sensors/ublox_gps/raw_data_stream"
+      topic: "/ublox_gps/raw_data_stream"
       sensor_name: "gnss"
       follow: "test_subscriber_gnss.yaml"
 

yaml/test_imu_subscriber_bno.yaml

@@ -7,7 +7,7 @@ cov_source: "sensor"
 in_degrees: true
 
 #all
-topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
+topic_enable: "/imu_bno/enable"
 static_init_duration: 5
 lowpass_filter: true
 lowpass_cutoff_freq: 5

yaml/test_imu_subscriber_microstrain.yaml

@@ -7,7 +7,7 @@ cov_source: "sensor"
 in_degrees: false
 
 #all
-topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
+topic_enable: "/imu_micro/enable"
 static_init_duration: 3
 lowpass_filter: false
 lowpass_cutoff_freq: 5

yaml/test_laser_processor.yaml

@@ -3,7 +3,7 @@ keyframe_vote:
   min_features_for_keyframe: 10
   min_dist: 999
   min_angle: 999
-  min_time: 0.1
+  min_time: 0.5
   min_error: 999
   max_points: 0
 max_new_features: 15

yaml/test_publisher_ros_node.yaml

 map_frame_id: "map"
-odom_frame_id: "ana/odom"
-base_frame_id: "ana/base_footprint"
+# odom_frame_id: "ana/odom"
+# base_frame_id: "ana/base_footprint"
+odom_frame_id: "helena/odom"
+base_frame_id: "helena/base_footprint"
 publish_odom_tf: false