diff --git a/config/T-29.yaml b/config/T-29.yaml index 435739f..aeb190e 100644 --- a/config/T-29.yaml +++ b/config/T-29.yaml @@ -1,4 +1,4 @@ -arctic_bot/joy_control: +sirius_bot/joy_control: ros__parameters: speed_x_axis: 4 speed_y_axis: 3 diff --git a/config/joy_config.yaml b/config/joy_config.yaml index f15c0fd..e43a790 100644 --- a/config/joy_config.yaml +++ b/config/joy_config.yaml @@ -1,4 +1,4 @@ -arctic_bot/joy: +sirius_bot/joy: ros__parameters: # to list connected devices, use: # ros2 run joy joy_enumerate_devices diff --git a/config/unity.rviz b/config/unity.rviz index e181b54..e47aae4 100644 --- a/config/unity.rviz +++ b/config/unity.rviz @@ -3,7 +3,9 @@ Panels: Help Height: 87 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /Grid1 + - /TF1/Tree1 Splitter Ratio: 0.5 Tree Height: 696 - Class: rviz_common/Selection @@ -28,7 +30,7 @@ Visualization Manager: Class: "" Displays: - Alpha: 0.5 - Cell Size: 1 + Cell Size: 10 Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true @@ -38,11 +40,11 @@ Visualization Manager: Name: Grid Normal Cell Count: 0 Offset: - X: 0 - Y: 0 + X: 20 + Y: 10 Z: 0 Plane: XY - Plane Cell Count: 10 + Plane Cell Count: 6 Reference Frame: Value: true - Class: rviz_default_plugins/Image @@ -57,7 +59,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /arctic_bot/camera + Value: /sirius_bot/camera/image_view Value: true - Class: rviz_default_plugins/Image Enabled: true @@ -71,7 +73,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /arctic_bot/crosshair_image + Value: /sirius_bot/crosshair_image Value: true - Class: rviz_default_plugins/TF Enabled: true @@ -84,8 +86,6 @@ Visualization Manager: Value: true back_right_wheel_link: Value: true - base_footprint: - Value: true base_link: Value: true camera_link: @@ -96,10 +96,14 @@ Visualization Manager: Value: true laser_link: Value: true + left_light_link: + Value: true map: Value: true odom: Value: true + right_light_link: + Value: true Marker Scale: 1 Name: TF Show Arrows: true @@ -108,20 +112,23 @@ Visualization Manager: Tree: map: odom: - base_footprint: - base_link: - back_left_wheel_link: - {} - back_right_wheel_link: - {} - camera_link: - {} - front_left_wheel_link: - {} - front_right_wheel_link: - {} - laser_link: - {} + base_link: + back_left_wheel_link: + {} + back_right_wheel_link: + {} + camera_link: + {} + front_left_wheel_link: + {} + front_right_wheel_link: + {} + laser_link: + {} + left_light_link: + {} + right_light_link: + {} Update Interval: 0 Value: true Enabled: true @@ -169,27 +176,47 @@ Visualization Manager: Value: true Views: Current: - Class: rviz_default_plugins/Orbit - Distance: 8.9044189453125 + Class: rviz_default_plugins/ThirdPersonFollower + Distance: 47.24568557739258 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -12.875144958496094 + Y: -5.233623027801514 + Z: -0.2596208155155182 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ + Pitch: 0.49539846181869507 + Target Frame: base_link + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 3.655395030975342 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 2.978720188140869 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1.1894173622131348 + Y: -0.47519075870513916 + Z: -0.25960466265678406 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.34539854526519775 + Target Frame: base_link + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 3.590395212173462 Window Geometry: Crosshair: collapsed: false @@ -198,7 +225,7 @@ Window Geometry: Height: 1052 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004c0000035c000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002100000035cfc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001b50000002200fffffffa000000000100000002fb000000060052004100570100000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f0073007300680061006900720100000202000001a60000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000004040000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004c0000035c000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002100000035cfc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001b00000002200fffffffa000000000100000002fb000000060052004100570100000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f00730073006800610069007201000001fd000001ab0000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000004040000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 RAW: collapsed: false Selection: diff --git a/launch/joy_control.launch.py b/launch/joy_control.launch.py index 5449ce8..7e95e45 100644 --- a/launch/joy_control.launch.py +++ b/launch/joy_control.launch.py @@ -26,7 +26,7 @@ def generate_launch_description(): default_value="T-29.yaml", ), DeclareLaunchArgument( - "namespace", default_value="arctic_bot", description="Top-level namespace" + "namespace", default_value="sirius_bot", description="Top-level namespace" ), ] diff --git a/launch/unity.launch.py b/launch/unity.launch.py index 5851b39..fce5b37 100644 --- a/launch/unity.launch.py +++ b/launch/unity.launch.py @@ -21,7 +21,7 @@ def generate_launch_description(): default_value="True", ), DeclareLaunchArgument( - "namespace", default_value="arctic_bot", description="Top-level namespace" + "namespace", default_value="sirius_bot", description="Top-level namespace" ), DeclareLaunchArgument( "start_rviz", default_value="True", description="Use basic rviz" @@ -60,8 +60,8 @@ def generate_launch_description(): {"crosshair_alpha": 0.5} ], remappings=[ - ("raw_image", "/arctic_bot/camera"), - ("camera_info", "/arctic_bot/camera/camera_info") + ("raw_image", "/sirius_bot/camera/image_view"), + ("camera_info", "/sirius_bot/camera/camera_info") ] )