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Get RViz working and update launches #34

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1b18e57
use new style parameters from static_transform_publisher to delete tf…
flochre Oct 28, 2023
8eb2255
use new style parameters from static_transform_publisher to delete tf…
flochre Oct 28, 2023
692386d
update the rviz config to have a nice view on start
flochre Oct 28, 2023
2a9c2a3
get the ydlidar_launch to work
flochre Oct 28, 2023
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33 changes: 19 additions & 14 deletions config/ydlidar.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,10 @@ Panels:
Expanded:
- /Global Options1
- /Status1
- /LaserScan1
- /LaserScan1/Topic1
Splitter Ratio: 0.5
Tree Height: 617
Tree Height: 787
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -53,25 +54,26 @@ Visualization Manager:
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 239; 41; 41
Color Transformer: FlatColor
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1012
Max Intensity: 1016
Min Color: 0; 0; 0
Min Intensity: 1008
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
Style: Spheres
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: System Default
Reliability Policy: Best Effort
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Expand Down Expand Up @@ -111,6 +113,9 @@ Visualization Manager:
- 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
Expand Down Expand Up @@ -139,7 +144,7 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 10
Distance: 12
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Expand All @@ -149,29 +154,29 @@ Visualization Manager:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5103975534439087
Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.163581848144531
Yaw: 3.1414999961853027
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c90000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 67
Y: 60
Width: 1850
X: 70
Y: 27
10 changes: 7 additions & 3 deletions launch/ydlidar_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,13 @@ def generate_launch_description():
node_namespace='/',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
arguments=[
"--x", "0", "--y", "0", "--z", "0.02",
"--qx", "0", "--qy", "0", "--qz", "0", "--qw", "1",
"--frame-id", "base_link", "--child-frame-id", "laser_frame"
]
)

return LaunchDescription([
Expand Down
22 changes: 13 additions & 9 deletions launch/ydlidar_launch_view.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -37,22 +37,26 @@ def generate_launch_description():
description='FPath to the ROS2 parameters file to use.')

driver_node = LifecycleNode(package='ydlidar_ros2_driver',
node_executable='ydlidar_ros2_driver_node',
node_name='ydlidar_ros2_driver_node',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
node_namespace='/',
namespace='',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=[
"--x", "0", "--y", "0", "--z", "0.02",
"--qx", "0", "--qy", "0", "--qz", "0", "--qw", "1",
"--frame-id", "base_link", "--child-frame-id", "laser_frame"
]
)
rviz2_node = Node(package='rviz2',
node_executable='rviz2',
node_name='rviz2',
arguments=['-d', rviz_config_file],
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
)

return LaunchDescription([
Expand Down