to actual ns

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

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

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: <Fixed 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
@@ -108,7 +112,6 @@ Visualization Manager:
       Tree:
         map:
           odom:
-            base_footprint:
             base_link:
               back_left_wheel_link:
                 {}
@@ -122,6 +125,10 @@ Visualization Manager:
                 {}
               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: <Fixed 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:

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"
         ),
     ]
 

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")
         ]
     )