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fix: make work slightly more consistently

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This commit is contained in:
David
2025-10-10 14:16:47 -05:00
parent 86684b0bff
commit 723aa33e3c
4 changed files with 59 additions and 51 deletions
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2
src/core_gazebo/launch/core.gazebo.launch.py
View File

@@ -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,

2
src/core_rover_description/config/ros2_controllers.yaml
View File

@@ -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

98
src/core_rover_description/config/rviz_basic_settings.rviz
View File

@@ -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:
averaging_bar:
{}
drivewhl_r_link:
left_suspension_member:
bl_wheel:
{}
front_caster:
fl_wheel:
{}
gps_link:
right_suspension_member:
br_wheel:
{}
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: <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
X: 246
Y: 77
Width: 947
X: 963
Y: 40

4
src/core_rover_description/launch/robot_state_publisher.launch.py
View File

@@ -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