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Add ROS 2 launch for the 2-robot demo
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# ROS2 launch file | ||
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from launch import LaunchDescription | ||
from launch.substitutions import TextSubstitution | ||
from launch.substitutions import LaunchConfiguration | ||
from launch_ros.actions import Node | ||
from launch.actions import DeclareLaunchArgument | ||
from ament_index_python import get_package_share_directory | ||
import os | ||
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def generate_launch_description(): | ||
mvsimDir = get_package_share_directory("mvsim") | ||
# print('mvsimDir: ' + mvsimDir) | ||
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# args that can be set from the command line or a default will be used | ||
world_file_launch_arg = DeclareLaunchArgument( | ||
"world_file", default_value=TextSubstitution( | ||
text=os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_2robots.world.xml'))) | ||
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mvsim_node = Node( | ||
package='mvsim', | ||
executable='mvsim_node', | ||
name='mvsim', | ||
output='screen', | ||
parameters=[ | ||
os.path.join(mvsimDir, 'mvsim_tutorial', 'mvsim_ros2_params.yaml'), | ||
{ | ||
"world_file": LaunchConfiguration('world_file'), | ||
}] | ||
) | ||
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rviz2_node = Node( | ||
package='rviz2', | ||
executable='rviz2', | ||
name='rviz2', | ||
arguments=[ | ||
'-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_2robots_ros2.rviz')]] | ||
) | ||
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return LaunchDescription([ | ||
world_file_launch_arg, | ||
mvsim_node, | ||
rviz2_node | ||
]) |
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Panels: | ||
- Class: rviz_common/Displays | ||
Help Height: 78 | ||
Name: Displays | ||
Property Tree Widget: | ||
Expanded: | ||
- /Global Options1 | ||
- /Status1 | ||
Splitter Ratio: 0.5 | ||
Tree Height: 787 | ||
- Class: rviz_common/Selection | ||
Name: Selection | ||
- Class: rviz_common/Tool Properties | ||
Expanded: | ||
- /2D Goal Pose1 | ||
- /Publish Point1 | ||
Name: Tool Properties | ||
Splitter Ratio: 0.5886790156364441 | ||
- Class: rviz_common/Views | ||
Expanded: | ||
- /Current View1 | ||
Name: Views | ||
Splitter Ratio: 0.5 | ||
- Class: rviz_common/Transformation | ||
Name: Transformation | ||
Visualization Manager: | ||
Class: "" | ||
Displays: | ||
- Alpha: 0.5 | ||
Cell Size: 1 | ||
Class: rviz_default_plugins/Grid | ||
Color: 160; 160; 164 | ||
Enabled: true | ||
Line Style: | ||
Line Width: 0.029999999329447746 | ||
Value: Lines | ||
Name: Grid | ||
Normal Cell Count: 0 | ||
Offset: | ||
X: 0 | ||
Y: 0 | ||
Z: 0 | ||
Plane: XY | ||
Plane Cell Count: 10 | ||
Reference Frame: <Fixed Frame> | ||
Value: true | ||
- Class: rviz_default_plugins/TF | ||
Enabled: true | ||
Frame Timeout: 15 | ||
Frames: | ||
All Enabled: true | ||
map: | ||
Value: true | ||
r1/base_footprint: | ||
Value: true | ||
r1/base_link: | ||
Value: true | ||
r1/camera1_image: | ||
Value: true | ||
r1/camera1_points: | ||
Value: true | ||
r1/laser1: | ||
Value: true | ||
r1/odom: | ||
Value: true | ||
r2/base_footprint: | ||
Value: true | ||
r2/base_link: | ||
Value: true | ||
r2/camera1: | ||
Value: true | ||
r2/laser1: | ||
Value: true | ||
r2/odom: | ||
Value: true | ||
world: | ||
Value: true | ||
Marker Scale: 1 | ||
Name: TF | ||
Show Arrows: true | ||
Show Axes: true | ||
Show Names: false | ||
Tree: | ||
world: | ||
map: | ||
r1/odom: | ||
r1/base_link: | ||
r1/base_footprint: | ||
{} | ||
r1/camera1_image: | ||
{} | ||
r1/camera1_points: | ||
{} | ||
r1/laser1: | ||
{} | ||
r2/odom: | ||
r2/base_link: | ||
r2/base_footprint: | ||
{} | ||
r2/camera1: | ||
{} | ||
r2/laser1: | ||
{} | ||
Update Interval: 0 | ||
Value: true | ||
- Alpha: 0.699999988079071 | ||
Class: rviz_default_plugins/Map | ||
Color Scheme: map | ||
Draw Behind: false | ||
Enabled: true | ||
Name: Map | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
Filter size: 10 | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /simul_map | ||
Update Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /simul_map_updates | ||
Use Timestamp: false | ||
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: 4096 | ||
Min Color: 0; 0; 0 | ||
Min Intensity: 0 | ||
Name: LaserScan | ||
Position Transformer: XYZ | ||
Selectable: true | ||
Size (Pixels): 3 | ||
Size (m): 0.10000000149011612 | ||
Style: Flat Squares | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
Filter size: 10 | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /r1/laser1 | ||
Use Fixed Frame: true | ||
Use rainbow: true | ||
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: 4096 | ||
Min Color: 0; 0; 0 | ||
Min Intensity: 0 | ||
Name: LaserScan | ||
Position Transformer: XYZ | ||
Selectable: true | ||
Size (Pixels): 3 | ||
Size (m): 0.10000000149011612 | ||
Style: Flat Squares | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
Filter size: 10 | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /r2/laser1 | ||
Use Fixed Frame: true | ||
Use rainbow: true | ||
Value: true | ||
- Alpha: 1 | ||
Arrow Length: 0.30000001192092896 | ||
Axes Length: 0.30000001192092896 | ||
Axes Radius: 0.009999999776482582 | ||
Class: rviz_default_plugins/PoseArray | ||
Color: 255; 25; 0 | ||
Enabled: true | ||
Head Length: 0.07000000029802322 | ||
Head Radius: 0.029999999329447746 | ||
Name: PoseArray | ||
Shaft Length: 0.23000000417232513 | ||
Shaft Radius: 0.009999999776482582 | ||
Shape: Arrow (Flat) | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
Filter size: 10 | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /r1/particlecloud | ||
Value: true | ||
- Class: rviz_default_plugins/MarkerArray | ||
Enabled: true | ||
Name: MarkerArray | ||
Namespaces: | ||
{} | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /chassis_markers | ||
Value: true | ||
Enabled: true | ||
Global Options: | ||
Background Color: 48; 48; 48 | ||
Fixed Frame: map | ||
Frame Rate: 30 | ||
Name: root | ||
Tools: | ||
- Class: rviz_default_plugins/Interact | ||
Hide Inactive Objects: true | ||
- Class: rviz_default_plugins/MoveCamera | ||
- Class: rviz_default_plugins/Select | ||
- Class: rviz_default_plugins/FocusCamera | ||
- Class: rviz_default_plugins/Measure | ||
Line color: 128; 128; 0 | ||
- Class: rviz_default_plugins/SetInitialPose | ||
Covariance x: 0.25 | ||
Covariance y: 0.25 | ||
Covariance yaw: 0.06853891909122467 | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /initialpose | ||
- Class: rviz_default_plugins/SetGoal | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /goal_pose | ||
- Class: rviz_default_plugins/PublishPoint | ||
Single click: true | ||
Topic: | ||
Depth: 5 | ||
Durability Policy: Volatile | ||
History Policy: Keep Last | ||
Reliability Policy: Reliable | ||
Value: /clicked_point | ||
Transformation: | ||
Current: | ||
Class: rviz_default_plugins/TF | ||
Value: true | ||
Views: | ||
Current: | ||
Class: rviz_default_plugins/Orbit | ||
Distance: 71.78666687011719 | ||
Enable Stereo Rendering: | ||
Stereo Eye Separation: 0.05999999865889549 | ||
Stereo Focal Distance: 1 | ||
Swap Stereo Eyes: false | ||
Value: false | ||
Focal Point: | ||
X: 14.356273651123047 | ||
Y: -33.14567184448242 | ||
Z: -26.374494552612305 | ||
Focal Shape Fixed Size: true | ||
Focal Shape Size: 0.05000000074505806 | ||
Invert Z Axis: false | ||
Name: Current View | ||
Near Clip Distance: 0.009999999776482582 | ||
Pitch: 0.6353979110717773 | ||
Target Frame: <Fixed Frame> | ||
Value: Orbit (rviz) | ||
Yaw: 1.730397343635559 | ||
Saved: ~ | ||
Window Geometry: | ||
Displays: | ||
collapsed: false | ||
Height: 1016 | ||
Hide Left Dock: false | ||
Hide Right Dock: false | ||
QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001c005400720061006e00730066006f0072006d006100740069006f006e00000002fb000000bf0000007b00ffffff000000010000010f0000037dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000037d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005da0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
Selection: | ||
collapsed: false | ||
Tool Properties: | ||
collapsed: false | ||
Transformation: | ||
collapsed: false | ||
Views: | ||
collapsed: false | ||
Width: 1846 | ||
X: 1154 | ||
Y: 27 |