Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1

MRPT · Mar 3, 2024 · 4607aa4 · 4607aa4
1 parent 3db80b0
commit 4607aa4
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Showing 2 changed files with 31 additions and 35 deletions.
diff --git a/mvsim_node_src/mvsim_node.cpp b/mvsim_node_src/mvsim_node.cpp
@@ -68,6 +68,12 @@ using Msg_TransformStamped = geometry_msgs::TransformStamped;
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #endif
 
+// usings:
+using Msg_OccupancyGrid = nav_msgs::msg::OccupancyGrid;
+using Msg_MapMetaData = nav_msgs::msg::MapMetaData;
+using Msg_TransformStamped = geometry_msgs::msg::TransformStamped;
+#endif
+
 #if MRPT_VERSION >= 0x020b04  // >=2.11.4?
 #define HAVE_POINTS_XYZIRT
 #endif
@@ -76,12 +82,6 @@ using Msg_TransformStamped = geometry_msgs::TransformStamped;
 #include <mrpt/maps/CPointsMapXYZIRT.h>
 #endif
 
-// usings:
-using Msg_OccupancyGrid = nav_msgs::msg::OccupancyGrid;
-using Msg_MapMetaData = nav_msgs::msg::MapMetaData;
-using Msg_TransformStamped = geometry_msgs::msg::TransformStamped;
-#endif
-
 #include <iostream>
 #include <rapidxml_utils.hpp>
 

diff --git a/mvsim_tutorial/demo_warehouse_ros1.rviz b/mvsim_tutorial/demo_warehouse_ros1.rviz
@@ -8,7 +8,6 @@ Panels:
         - /Status1
         - /TF1/Frames1
         - /TF1/Tree1
-        - /Image1
       Splitter Ratio: 0.6176469922065735
     Tree Height: 274
   - Class: rviz/Selection
@@ -28,7 +27,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: Raw Lidar Points
   - Class: rviz_plugin_tutorials/Teleop
     Name: Teleop
     Topic: /cmd_vel
@@ -78,27 +77,24 @@ Visualization Manager:
           Value: true
         scanner1:
           Value: true
-        world:
-          Value: true
       Marker Alpha: 1
       Marker Scale: 0.4000000059604645
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        world:
-          map:
-            odom:
-              base_link:
-                base_footprint:
-                  {}
-                cam1:
-                  {}
-                lidar1_points:
-                  {}
-                scanner1:
-                  {}
+        map:
+          odom:
+            base_link:
+              base_footprint:
+                {}
+              cam1:
+                {}
+              lidar1_points:
+                {}
+              scanner1:
+                {}
       Update Interval: 0
       Value: true
     - Class: rviz/MarkerArray
@@ -155,7 +151,7 @@ Visualization Manager:
         Min Value: -10
         Value: true
       Axis: Z
-      Channel Name: intensity
+      Channel Name: ring
       Class: rviz/PointCloud2
       Color: 255; 255; 255
       Color Transformer: Intensity
@@ -164,12 +160,12 @@ Visualization Manager:
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
-      Name: PointCloud2
+      Name: Raw Lidar Points
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.009999999776482582
+      Size (m): 0.029999999329447746
       Style: Flat Squares
       Topic: /lidar1_points
       Unreliable: false
@@ -182,7 +178,7 @@ Visualization Manager:
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: Image
+      Name: Camera
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -216,7 +212,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 16.860950469970703
+      Distance: 16.988401412963867
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -232,19 +228,19 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6547970771789551
+      Pitch: 0.5597972273826599
       Target Frame: <Fixed Frame>
-      Yaw: 2.675391912460327
+      Yaw: 2.6403937339782715
     Saved: ~
 Window Geometry:
+  Camera:
+    collapsed: false
   Displays:
     collapsed: false
   Height: 876
   Hide Left Dock: false
   Hide Right Dock: true
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000178000002cefc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f00700100000192000000ee0000004700fffffffb0000000c00540065006c0065006f00700000000260000000aa0000000000000000fb0000000c00540065006c0065006f0070010000020f000000fb0000000000000000fb0000000a0049006d0061006700650100000286000000850000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003efc0100000002fb0000000800540069006d00650100000000000005ff000003cc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000481000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000178000002cefc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001fb00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f00700100000192000000ee0000004700fffffffb0000000c00540065006c0065006f00700000000260000000aa0000000000000000fb0000000c00540065006c0065006f0070010000020f000000fb0000000000000000fb0000000c00430061006d0065007200610100000286000000850000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004380000003efc0100000002fb0000000800540069006d0065010000000000000438000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000002ba000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Teleop:
@@ -255,6 +251,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1535
-  X: 1990
-  Y: 27
+  Width: 1080
+  X: 1920
+  Y: 0