Added basic mapping

AUV-IITK · Sep 8, 2019 · e9916aa · e9916aa
1 parent 492583d
commit e9916aa
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Showing 7 changed files with 472 additions and 37 deletions.
diff --git a/vrx_gazebo/launch/vrx.launch b/vrx_gazebo/launch/vrx.launch
@@ -44,7 +44,7 @@
   <arg name="x_config" value="$(eval int((thrust_config)=='X'))"/>
 
   <!-- For now - can only use the T configuration! -->
-  <arg if="$(arg t_config)" name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
+  <arg if="$(arg x_config)" name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
 
   <param name="robot_description"
          command="$(find xacro)/xacro &#x002D;&#x002D;inorder '$(arg urdf)'

diff --git a/wamv_controls/cascaded_pid_controller/setup.py b/wamv_controls/cascaded_pid_controller/setup.py
@@ -3,7 +3,7 @@
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=['cascaded_pid_controller'],
+    packages=['PID'],
     package_dir={'': 'src'},
     requires=['rospy']
 )

diff --git a/wamv_gazebo/config/rviz_vrx.rviz b/wamv_gazebo/config/rviz_vrx.rviz
@@ -6,8 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /PointCloud21
+        - /LaserScan1
       Splitter Ratio: 0.5
-    Tree Height: 163
+    Tree Height: 806
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -116,27 +117,27 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        lateral_engine_link:
+        left_battery_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lateral_propeller_link:
+        left_front_engine_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        left_battery_link:
+        left_front_propeller_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        left_engine_link:
+        left_rear_engine_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        left_propeller_link:
+        left_rear_propeller_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -176,12 +177,22 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        right_engine_link:
+        right_front_engine_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_front_propeller_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_rear_engine_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        right_propeller_link:
+        right_rear_propeller_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -219,22 +230,24 @@ Visualization Manager:
           Value: true
         imu_wamv_link:
           Value: true
-        lateral_engine_link:
+        left_battery_link:
           Value: true
-        lateral_propeller_link:
+        left_front_engine_link:
           Value: true
-        left_battery_link:
+        left_front_propeller_link:
           Value: true
-        left_engine_link:
+        left_rear_engine_link:
           Value: true
-        left_propeller_link:
+        left_rear_propeller_link:
           Value: true
         lidar_wamv_link:
           Value: true
         lidar_wamv_post_arm_link:
           Value: true
         lidar_wamv_post_link:
           Value: true
+        map:
+          Value: true
         middle_right_camera_link:
           Value: true
         middle_right_camera_post_arm_link:
@@ -245,9 +258,13 @@ Visualization Manager:
           Value: true
         right_battery_link:
           Value: true
-        right_engine_link:
+        right_front_engine_link:
+          Value: true
+        right_front_propeller_link:
           Value: true
-        right_propeller_link:
+        right_rear_engine_link:
+          Value: true
+        right_rear_propeller_link:
           Value: true
         utm:
           Value: true
@@ -257,6 +274,8 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
+        map:
+          {}
         odom:
           base_link:
             cpu_cases_link:
@@ -275,13 +294,13 @@ Visualization Manager:
               {}
             imu_wamv_link:
               {}
-            lateral_engine_link:
-              lateral_propeller_link:
-                {}
             left_battery_link:
               {}
-            left_engine_link:
-              left_propeller_link:
+            left_front_engine_link:
+              left_front_propeller_link:
+                {}
+            left_rear_engine_link:
+              left_rear_propeller_link:
                 {}
             lidar_wamv_post_link:
               lidar_wamv_post_arm_link:
@@ -293,8 +312,11 @@ Visualization Manager:
                   {}
             right_battery_link:
               {}
-            right_engine_link:
-              right_propeller_link:
+            right_front_engine_link:
+              right_front_propeller_link:
+                {}
+            right_rear_engine_link:
+              right_rear_propeller_link:
                 {}
           utm:
             {}
@@ -315,7 +337,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 1
+      Max Intensity: 0
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: PointCloud2
@@ -331,7 +353,7 @@ Visualization Manager:
       Use rainbow: true
       Value: true
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: /middle_right_camera/image_raw
       Max Value: 1
       Median window: 5
@@ -341,9 +363,9 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: true
+      Value: false
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: /front_left_camera/image_raw
       Max Value: 1
       Median window: 5
@@ -353,9 +375,9 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: true
+      Value: false
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: /front_right_camera/image_raw
       Max Value: 1
       Median window: 5
@@ -365,6 +387,90 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - 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: true
+      Enabled: false
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /odometry/gps
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
       Value: true
   Enabled: true
   Global Options:
@@ -394,7 +500,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 11.244893074035645
+      Distance: 21.416629791259766
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -409,10 +515,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4003981947898865
+      Pitch: 0.6303979158401489
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 0.5403982400894165
+      Yaw: 0.3435858190059662
     Saved: ~
 Window Geometry:
   Displays:
@@ -421,12 +527,12 @@ Window Geometry:
     collapsed: false
   Front right camera:
     collapsed: false
-  Height: 1052
+  Height: 1025
   Hide Left Dock: false
   Hide Right Dock: false
   Middle right camera:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -436,5 +542,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1853
-  X: 1987
-  Y: 0
+  X: 67
+  Y: 27