sirius
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unity_robot_controller
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to actual ns

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moscowsky 1 month ago
parent 10b44e7e43
commit 3739fd6859
5 changed files with 67 additions and 40 deletions
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2
config/T-29.yaml
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@ -1,4 +1,4 @@
arctic_bot/joy_control: sirius_bot/joy_control:
ros__parameters: ros__parameters:
speed_x_axis: 4 speed_x_axis: 4
speed_y_axis: 3 speed_y_axis: 3

2
config/joy_config.yaml
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@ -1,4 +1,4 @@
arctic_bot/joy: sirius_bot/joy:
ros__parameters: ros__parameters:
# to list connected devices, use: # to list connected devices, use:
# ros2 run joy joy_enumerate_devices # ros2 run joy joy_enumerate_devices

95
config/unity.rviz
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@ -3,7 +3,9 @@ Panels:
Help Height: 87 Help Height: 87
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: ~ Expanded:
- /Grid1
- /TF1/Tree1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 696 Tree Height: 696
- Class: rviz_common/Selection - Class: rviz_common/Selection
@ -28,7 +30,7 @@ Visualization Manager:
Class: "" Class: ""
Displays: Displays:
- Alpha: 0.5 - Alpha: 0.5
Cell Size: 1 Cell Size: 10
Class: rviz_default_plugins/Grid Class: rviz_default_plugins/Grid
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
@ -38,11 +40,11 @@ Visualization Manager:
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
Offset: Offset:
X: 0 X: 20
Y: 0 Y: 10
Z: 0 Z: 0
Plane: XY Plane: XY
Plane Cell Count: 10 Plane Cell Count: 6
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Class: rviz_default_plugins/Image - Class: rviz_default_plugins/Image
@ -57,7 +59,7 @@ Visualization Manager:
Durability Policy: Volatile Durability Policy: Volatile
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /arctic_bot/camera Value: /sirius_bot/camera/image_view
Value: true Value: true
- Class: rviz_default_plugins/Image - Class: rviz_default_plugins/Image
Enabled: true Enabled: true
@ -71,7 +73,7 @@ Visualization Manager:
Durability Policy: Volatile Durability Policy: Volatile
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /arctic_bot/crosshair_image Value: /sirius_bot/crosshair_image
Value: true Value: true
- Class: rviz_default_plugins/TF - Class: rviz_default_plugins/TF
Enabled: true Enabled: true
@ -84,8 +86,6 @@ Visualization Manager:
Value: true Value: true
back_right_wheel_link: back_right_wheel_link:
Value: true Value: true
base_footprint:
Value: true
base_link: base_link:
Value: true Value: true
camera_link: camera_link:
@ -96,10 +96,14 @@ Visualization Manager:
Value: true Value: true
laser_link: laser_link:
Value: true Value: true
left_light_link:
Value: true
map: map:
Value: true Value: true
odom: odom:
Value: true Value: true
right_light_link:
Value: true
Marker Scale: 1 Marker Scale: 1
Name: TF Name: TF
Show Arrows: true Show Arrows: true
@ -108,20 +112,23 @@ Visualization Manager:
Tree: Tree:
map: map:
odom: odom:
base_footprint: base_link:
base_link: back_left_wheel_link:
back_left_wheel_link: {}
{} back_right_wheel_link:
back_right_wheel_link: {}
{} camera_link:
camera_link: {}
{} front_left_wheel_link:
front_left_wheel_link: {}
{} front_right_wheel_link:
front_right_wheel_link: {}
{} laser_link:
laser_link: {}
{} left_light_link:
{}
right_light_link:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
Enabled: true Enabled: true
@ -169,27 +176,47 @@ Visualization Manager:
Value: true Value: true
Views: Views:
Current: Current:
Class: rviz_default_plugins/Orbit Class: rviz_default_plugins/ThirdPersonFollower
Distance: 8.9044189453125 Distance: 47.24568557739258
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0 X: -12.875144958496094
Y: 0 Y: -5.233623027801514
Z: 0 Z: -0.2596208155155182
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209 Pitch: 0.49539846181869507
Target Frame: <Fixed Frame> Target Frame: base_link
Value: Orbit (rviz) Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 0.785398006439209 Yaw: 3.655395030975342
Saved: ~ 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: Window Geometry:
Crosshair: Crosshair:
collapsed: false collapsed: false
@ -198,7 +225,7 @@ Window Geometry:
Height: 1052 Height: 1052
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004c0000035c000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002100000035cfc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001b50000002200fffffffa000000000100000002fb000000060052004100570100000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f0073007300680061006900720100000202000001a60000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000004040000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004c0000035c000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002100000035cfc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001b00000002200fffffffa000000000100000002fb000000060052004100570100000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f00730073006800610069007201000001fd000001ab0000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000004040000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RAW: RAW:
collapsed: false collapsed: false
Selection: Selection:

2
launch/joy_control.launch.py
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@ -26,7 +26,7 @@ def generate_launch_description():
default_value="T-29.yaml", default_value="T-29.yaml",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"namespace", default_value="arctic_bot", description="Top-level namespace" "namespace", default_value="sirius_bot", description="Top-level namespace"
), ),
] ]

6
launch/unity.launch.py
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@ -21,7 +21,7 @@ def generate_launch_description():
default_value="True", default_value="True",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"namespace", default_value="arctic_bot", description="Top-level namespace" "namespace", default_value="sirius_bot", description="Top-level namespace"
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
"start_rviz", default_value="True", description="Use basic rviz" "start_rviz", default_value="True", description="Use basic rviz"
@ -60,8 +60,8 @@ def generate_launch_description():
{"crosshair_alpha": 0.5} {"crosshair_alpha": 0.5}
], ],
remappings=[ remappings=[
("raw_image", "/arctic_bot/camera"), ("raw_image", "/sirius_bot/camera/image_view"),
("camera_info", "/arctic_bot/camera/camera_info") ("camera_info", "/sirius_bot/camera/camera_info")
] ]
) )

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