From 723aa33e3c9cc3e5c602c7b2f6456275a9403785 Mon Sep 17 00:00:00 2001 From: David Date: Fri, 10 Oct 2025 14:16:47 -0500 Subject: [PATCH] fix: make work slightly more consistently --- src/core_gazebo/launch/core.gazebo.launch.py | 2 +- .../config/ros2_controllers.yaml | 2 +- .../config/rviz_basic_settings.rviz | 102 ++++++++++-------- .../launch/robot_state_publisher.launch.py | 4 +- 4 files changed, 59 insertions(+), 51 deletions(-) diff --git a/src/core_gazebo/launch/core.gazebo.launch.py b/src/core_gazebo/launch/core.gazebo.launch.py index ebbf4ff..7b991cd 100644 --- a/src/core_gazebo/launch/core.gazebo.launch.py +++ b/src/core_gazebo/launch/core.gazebo.launch.py @@ -167,7 +167,7 @@ def generate_launch_description(): # Include Robot State Publisher launch file if enabled robot_state_publisher_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource([ - os.path.join(pkg_share_description, 'launch', 'robot_state_publisher.launch.py') + os.path.join(pkg_share_description, 'launch', 'display.launch.py') ]), launch_arguments={ 'jsp_gui': jsp_gui, diff --git a/src/core_rover_description/config/ros2_controllers.yaml b/src/core_rover_description/config/ros2_controllers.yaml index c14fbc3..f83e968 100644 --- a/src/core_rover_description/config/ros2_controllers.yaml +++ b/src/core_rover_description/config/ros2_controllers.yaml @@ -14,7 +14,7 @@ diff_controller: left_wheel_names: ["bl_wheel_joint", "fl_wheel_joint"] right_wheel_names: ["br_wheel_joint", "fr_wheel_joint"] - wheel_separation: 0.836 + wheel_separation: 0.836 # TODO: fix wheels_per_side: 2 wheel_radius: 0.171 diff --git a/src/core_rover_description/config/rviz_basic_settings.rviz b/src/core_rover_description/config/rviz_basic_settings.rviz index 0ca5048..8a27eae 100644 --- a/src/core_rover_description/config/rviz_basic_settings.rviz +++ b/src/core_rover_description/config/rviz_basic_settings.rviz @@ -10,7 +10,7 @@ Panels: - /TF1 - /TF1/Frames1 Splitter Ratio: 0.5 - Tree Height: 617 + Tree Height: 895 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -63,43 +63,49 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_footprint: + averaging_bar: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - drivewhl_l_link: + bl_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true - drivewhl_r_link: + br_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true - front_caster: + fl_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true - gps_link: - Alpha: 1 - Show Axes: false - Show Trail: false - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - lidar_link: + fr_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true + left_suspension_member: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_suspension_member: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 @@ -110,41 +116,40 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - base_footprint: - Value: false + averaging_bar: + Value: true base_link: - Value: false - drivewhl_l_link: Value: true - drivewhl_r_link: + bl_wheel: + Value: true + br_wheel: + Value: true + fl_wheel: + Value: true + fr_wheel: + Value: true + left_suspension_member: + Value: true + right_suspension_member: Value: true - front_caster: - Value: false - gps_link: - Value: false - imu_link: - Value: false - lidar_link: - Value: false Marker Scale: 1 Name: TF Show Arrows: false Show Axes: true Show Names: true Tree: - base_footprint: - base_link: - drivewhl_l_link: + base_link: + averaging_bar: + {} + left_suspension_member: + bl_wheel: {} - drivewhl_r_link: + fl_wheel: {} - front_caster: + right_suspension_member: + br_wheel: {} - gps_link: - {} - imu_link: - {} - lidar_link: + fr_wheel: {} Update Interval: 0 Value: true @@ -163,6 +168,9 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile @@ -198,32 +206,32 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0.31193429231643677 - Y: 0.11948385089635849 - Z: -0.4807402193546295 + X: 0.1387547254562378 + Y: 0.16643811762332916 + Z: -0.29218846559524536 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.490397572517395 + Pitch: 0.4853976368904114 Target Frame: Value: Orbit (rviz) - Yaw: 1.0503965616226196 + Yaw: 0.9253984689712524 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 846 + Height: 1118 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000015600000408fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000408000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000408fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000408000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002570000040800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - Width: 1200 - X: 246 - Y: 77 + Width: 947 + X: 963 + Y: 40 diff --git a/src/core_rover_description/launch/robot_state_publisher.launch.py b/src/core_rover_description/launch/robot_state_publisher.launch.py index 04bea01..af917f6 100644 --- a/src/core_rover_description/launch/robot_state_publisher.launch.py +++ b/src/core_rover_description/launch/robot_state_publisher.launch.py @@ -123,7 +123,7 @@ def generate_launch_description(): default_urdf_model_path = PathJoinSubstitution( [pkg_share_description, 'urdf', urdf_filename]) default_rviz_config_path = PathJoinSubstitution( - [pkg_share_description, 'rviz', rviz_config_filename]) + [pkg_share_description, 'config', rviz_config_filename]) # Launch configuration variables jsp_gui = LaunchConfiguration('jsp_gui') @@ -233,6 +233,6 @@ def generate_launch_description(): ld.add_action(start_joint_state_publisher_cmd) ld.add_action(start_joint_state_publisher_gui_cmd) ld.add_action(start_robot_state_publisher_cmd) - # ld.add_action(start_rviz_cmd) + ld.add_action(start_rviz_cmd) return ld