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update for real world bada robot
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@jhbae159
jhbae159 committed Oct 6, 2020
1 parent 3069868 commit 7f96bdc
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Showing 4 changed files with 170 additions and 48 deletions.
199 changes: 154 additions & 45 deletions bada_g2_2dnav/rviz/r.rviz
View file
Original file line number Diff line number Diff line change
Expand Up @@ -114,58 +114,86 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
bada_chasis:
Value: true
L_link:
Value: false
R_link:
Value: false
base_footprint_link:
Value: false
base_link:
Value: true
d400_aligned_depth_to_color_frame:
d435_camera_aligned_depth_to_color_frame:
Value: true
d435_camera_aligned_depth_to_infra1_frame:
Value: false
d400_color_frame:
d435_camera_bottom_screw_frame:
Value: false
d400_color_optical_frame:
d435_camera_color_frame:
Value: false
d400_depth_frame:
d435_camera_color_optical_frame:
Value: false
d400_depth_optical_frame:
d435_camera_depth_frame:
Value: false
d400_link:
Value: true
map:
Value: true
odom:
Value: true
respeaker_base:
Value: true
t265_link:
d435_camera_depth_optical_frame:
Value: false
d435_camera_infra1_frame:
Value: false
d435_camera_infra1_optical_frame:
Value: false
d435_camera_infra2_frame:
Value: false
d435_camera_infra2_optical_frame:
Value: false
d435_camera_left_ir_frame:
Value: false
d435_camera_left_ir_optical_frame:
Value: false
d435_camera_link:
Value: false
t265_odom_frame:
d435_camera_right_ir_frame:
Value: false
t265_pose_frame:
d435_camera_right_ir_optical_frame:
Value: false
tcamera_link:
laser:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
d400_link:
d400_aligned_depth_to_color_frame:
d400_color_optical_frame:
base_footprint_link:
base_link:
L_link:
{}
R_link:
{}
d435_camera_bottom_screw_frame:
d435_camera_link:
d435_camera_aligned_depth_to_color_frame:
d435_camera_color_optical_frame:
{}
d400_color_frame:
d435_camera_aligned_depth_to_infra1_frame:
d435_camera_infra1_optical_frame:
{}
d435_camera_color_frame:
{}
d435_camera_depth_frame:
d435_camera_depth_optical_frame:
{}
d435_camera_left_ir_frame:
d435_camera_left_ir_optical_frame:
{}
d435_camera_right_ir_frame:
d435_camera_right_ir_optical_frame:
{}
d435_camera_infra1_frame:
{}
d400_depth_frame:
d400_depth_optical_frame:
d435_camera_infra2_frame:
d435_camera_infra2_optical_frame:
{}
respeaker_base:
{}
tcamera_link:
{}
laser:
{}
Update Interval: 0
Value: true
- Alpha: 1
Expand All @@ -183,20 +211,20 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Max Intensity: 47
Min Color: 0; 0; 0
Min Intensity: 0
Min Intensity: 47
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /scan
Topic: /scan_filtered
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz/Polygon
Expand Down Expand Up @@ -264,11 +292,92 @@ Visualization Manager:
Topic: /move_base/current_goal
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
L_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
R_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
d435_camera_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_left_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_left_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
d435_camera_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d435_camera_right_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
Expand All @@ -292,25 +401,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 15.176136016845703
Distance: 3.9202609062194824
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.2840439081192017
Y: 0.1262761950492859
Z: -0.016361216083168983
X: -0.20945604145526886
Y: -0.03731440007686615
Z: 0.30536597967147827
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.4097963571548462
Pitch: 0.8547969460487366
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.888574123382568
Yaw: 0.2626698911190033
Saved: ~
Window Geometry:
Displays:
Expand All @@ -328,5 +437,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1200
X: 571
Y: 94
X: 199
Y: 75
7 changes: 5 additions & 2 deletions bada_g2_description/launch/rviz.launch
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Original file line number Diff line number Diff line change
@@ -1,14 +1,17 @@
<?xml version="1.0"?>
<launch>
<arg name="sim_time" default="false"/>


<param name="robot_description" command="$(find xacro)/xacro.py $(find bada_g2_description)/urdf/bada_g2.xacro" />
<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="publish_frequency" value="100.0"/>
<param name="use_sim_time" value="true"/>
<param name="use_sim_time" value="$(arg sim_time)"/>
</node>
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<param name="use_sim_time" value="true"/>
<param name="use_sim_time" value="$(arg sim_time)"/>
<param name="publish_frequency" value="100.0"/>


Expand Down
2 changes: 1 addition & 1 deletion bada_g2_description/urdf/bada_g2.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -175,7 +175,7 @@

<joint name="rplidar_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0.145 0 0.085" rpy="0 0 0"/> <!--rpy : 0 0 3.14-->
<origin xyz="0.145 0 0.085" rpy="0 0 -3.14"/> <!--simulation rpy : 0 0 0-->
<parent link="base_link"/>
<child link="laser"/>
</joint>
Expand Down
10 changes: 10 additions & 0 deletions laser_filters/examples/angular_bound_filter.launch
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Original file line number Diff line number Diff line change
@@ -1,4 +1,14 @@
<launch>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
</node>


<node pkg="laser_filters" type="scan_to_scan_filter_chain" output="screen" name="laser_filter">
<remap from="scan" to="scan" />
<rosparam command="load" file="$(find laser_filters)/examples/angular_bound_filter.yaml" />
Expand Down

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