fix: make work slightly more consistently

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,

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
 

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:
+        fr_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        imu_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        lidar_link:
           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:
+        averaging_bar:
-          Value: false
+          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:
-          base_link:
+          averaging_bar:
-            drivewhl_l_link:
+            {}
+          left_suspension_member:
+            bl_wheel:
               {}
-            drivewhl_r_link:
+            fl_wheel:
               {}
-            front_caster:
+          right_suspension_member:
+            br_wheel:
               {}
-            gps_link:
+            fr_wheel:
-              {}
-            imu_link:
-              {}
-            lidar_link:
               {}
       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
+        X: 0.1387547254562378
-        Y: 0.11948385089635849
+        Y: 0.16643811762332916
-        Z: -0.4807402193546295
+        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: <Fixed 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
+  Width: 947
-  X: 246
+  X: 963
-  Y: 77
+  Y: 40

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