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Add ROS 2 launch for the 2-robot demo
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jlblancoc committed May 17, 2023
1 parent a118628 commit 46f000f
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46 changes: 46 additions & 0 deletions mvsim_tutorial/demo_2robots.launch.py
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# ROS2 launch file

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


def generate_launch_description():
mvsimDir = get_package_share_directory("mvsim")
# print('mvsimDir: ' + mvsimDir)

# 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')))

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'),
}]
)

rviz2_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=[
'-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_2robots_ros2.rviz')]]
)

return LaunchDescription([
world_file_launch_arg,
mvsim_node,
rviz2_node
])
311 changes: 311 additions & 0 deletions mvsim_tutorial/demo_2robots_ros2.rviz
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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

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