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Merge pull request #10 from aldenpower/fix/urdf-to-ignition
Fix/urdf to ignition
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46 changes: 46 additions & 0 deletions
46
littlebot_control/launch/spawn_diffdriver_controller.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| from launch_ros.actions import Node | ||
| from launch import LaunchDescription | ||
| from launch.actions import RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| joint_state_broadcaster_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["joint_state_broadcaster", | ||
| "--controller-manager", "/controller_manager"], | ||
| ) | ||
|
|
||
| robot_controller_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["littlebot_velocity_controller", "--controller-manager", | ||
| "/controller_manager"], | ||
| ) | ||
|
|
||
| rviz_node = Node( | ||
| package="rviz2", | ||
| executable="rviz2", | ||
| name="rviz2", | ||
| output="log", | ||
| ) | ||
|
|
||
| delay_robot_controller_after_joint_state_spawner = RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=joint_state_broadcaster_spawner, | ||
| on_exit=[robot_controller_spawner], | ||
| ) | ||
| ) | ||
| delay_rviz_after_robot_controller = RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=robot_controller_spawner, | ||
| on_exit=[rviz_node], | ||
| ) | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| joint_state_broadcaster_spawner, | ||
| delay_robot_controller_after_joint_state_spawner, | ||
| delay_rviz_after_robot_controller | ||
| ]) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,235 @@ | ||
| Panels: | ||
| - Class: rviz_common/Displays | ||
| Help Height: 78 | ||
| Name: Displays | ||
| Property Tree Widget: | ||
| Expanded: | ||
| - /Global Options1 | ||
| - /Status1 | ||
| - /RobotModel1 | ||
| Splitter Ratio: 0.5 | ||
| Tree Height: 570 | ||
| - 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/Time | ||
| Experimental: false | ||
| Name: Time | ||
| SyncMode: 0 | ||
| SyncSource: "" | ||
| 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 | ||
| - Alpha: 1 | ||
| Class: rviz_default_plugins/RobotModel | ||
| Collision Enabled: false | ||
| Description File: "" | ||
| Description Source: Topic | ||
| Description Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: Reliable | ||
| Value: /robot_description | ||
| Enabled: true | ||
| Links: | ||
| All Links Enabled: true | ||
| Expand Joint Details: false | ||
| Expand Link Details: false | ||
| Expand Tree: false | ||
| Link Tree Style: Links in Alphabetic Order | ||
| base_link: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| caster: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| chassis_link: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| free_wheel: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| imu_link: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| left_wheel: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| right_wheel: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Mass Properties: | ||
| Inertia: false | ||
| Mass: false | ||
| Name: RobotModel | ||
| TF Prefix: "" | ||
| Update Interval: 0 | ||
| Value: true | ||
| Visual Enabled: true | ||
| - Class: rviz_default_plugins/TF | ||
| Enabled: true | ||
| Frame Timeout: 15 | ||
| Frames: | ||
| All Enabled: true | ||
| base_link: | ||
| Value: true | ||
| caster: | ||
| Value: true | ||
| chassis_link: | ||
| Value: true | ||
| free_wheel: | ||
| Value: true | ||
| imu_link: | ||
| Value: true | ||
| left_wheel: | ||
| Value: true | ||
| odom: | ||
| Value: true | ||
| right_wheel: | ||
| Value: true | ||
| Marker Scale: 1 | ||
| Name: TF | ||
| Show Arrows: true | ||
| Show Axes: true | ||
| Show Names: false | ||
| Tree: | ||
| odom: | ||
| base_link: | ||
| chassis_link: | ||
| caster: | ||
| free_wheel: | ||
| {} | ||
| imu_link: | ||
| {} | ||
| left_wheel: | ||
| {} | ||
| right_wheel: | ||
| {} | ||
| Update Interval: 0 | ||
| Value: true | ||
| Enabled: true | ||
| Global Options: | ||
| Background Color: 48; 48; 48 | ||
| Fixed Frame: odom | ||
| 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: 5.098728656768799 | ||
| Enable Stereo Rendering: | ||
| Stereo Eye Separation: 0.05999999865889549 | ||
| Stereo Focal Distance: 1 | ||
| Swap Stereo Eyes: false | ||
| Value: false | ||
| Focal Point: | ||
| X: -0.0343431793153286 | ||
| Y: 0.13100281357765198 | ||
| Z: -0.0660405084490776 | ||
| Focal Shape Fixed Size: true | ||
| Focal Shape Size: 0.05000000074505806 | ||
| Invert Z Axis: false | ||
| Name: Current View | ||
| Near Clip Distance: 0.009999999776482582 | ||
| Pitch: 0.6753981113433838 | ||
| Target Frame: <Fixed Frame> | ||
| Value: Orbit (rviz) | ||
| Yaw: 1.0353977680206299 | ||
| Saved: ~ | ||
| Window Geometry: | ||
| Displays: | ||
| collapsed: false | ||
| Height: 884 | ||
| Hide Left Dock: false | ||
| Hide Right Dock: false | ||
| QMainWindow State: 000000ff00000000fd00000004000000000000015f000002ccfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002cc000000d000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ccfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002cc000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054c00000040fc0100000002fb0000000800540069006d006501000000000000054c000002a700fffffffb0000000800540069006d00650100000000000004500000000000000000000002d2000002cc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
| Selection: | ||
| collapsed: false | ||
| Time: | ||
| collapsed: false | ||
| Tool Properties: | ||
| collapsed: false | ||
| Views: | ||
| collapsed: false | ||
| Width: 1356 | ||
| X: 2276 | ||
| Y: 64 |
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