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Copter: rename robot_state_publisher tf topic to /ap/tf #23

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merged 3 commits into from Aug 4, 2023
Merged

Copter: rename robot_state_publisher tf topic to /ap/tf #23

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24e5fbb
Copter: rename robot_state_publisher tf topic to /ap/tf
pedro-fuoco Jul 28, 2023
a1db50b
Copter: remove iris frame_prefix from launches
pedro-fuoco Aug 1, 2023
12eaeca
Copter: Remove the laser scan plugin from the gazebo generated tf tree
pedro-fuoco Aug 4, 2023
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5 changes: 2 additions & 3 deletions ardupilot_gz_bringup/launch/robots/iris.launch.py
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Expand Up @@ -130,11 +130,10 @@ def generate_launch_description():
output="both",
parameters=[
{"robot_description": robot_desc},
{"frame_prefix": "iris/"},
],
remappings=[
("/tf", "/ignore/tf"),
("/tf_static", "/ignore/tf_static"),
("/tf", "/ap/tf"),
("/tf_static", "/ap/tf_static"),
],
)

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5 changes: 2 additions & 3 deletions ardupilot_gz_bringup/launch/robots/iris_lidar.launch.py
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Expand Up @@ -133,11 +133,10 @@ def generate_launch_description():
output="both",
parameters=[
{"robot_description": robot_desc},
{"frame_prefix": "iris/"},
],
remappings=[
("/tf", "/ignore/tf"),
("/tf_static", "/ignore/tf_static"),
("/tf", "/ap/tf"),
("/tf_static", "/ap/tf_static"),
],
)

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44 changes: 5 additions & 39 deletions ardupilot_gz_bringup/rviz/iris_with_lidar.rviz
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Expand Up @@ -8,7 +8,7 @@ Panels:
- /Status1
- /Iris1
Splitter Ratio: 0.5
Tree Height: 587
Tree Height: 581
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand All @@ -26,7 +26,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
Expand Down Expand Up @@ -164,40 +164,6 @@ Visualization Manager:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /laser/scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Expand Down Expand Up @@ -311,7 +277,7 @@ Window Geometry:
Height: 800
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001630000029afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c0000029a000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001a20000011d0000000000000000000000010000010f0000029bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029b000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af0000023d00fffffffb0000000800540069006d006501000000000000045000000000000000000000034b0000029a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016300000282fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000282000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001a20000011d0000000000000000000000010000010f0000029bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003460000028200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -321,5 +287,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1199
X: 0
Y: 25
X: 70
Y: 27
2 changes: 1 addition & 1 deletion ardupilot_gz_description/models/iris_with_lidar/model.sdf
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Expand Up @@ -320,7 +320,7 @@
</visual>

<sensor name='gpu_lidar' type='gpu_lidar'>
<ignition_frame_id>iris/base_scan</ignition_frame_id>
<ignition_frame_id>base_scan</ignition_frame_id>
<pose>0 0 0 0 0 0</pose>
<topic>lidar</topic>
<update_rate>10</update_rate>
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