diff --git a/agv_pro_description/CMakeLists.txt b/agv_pro_description/CMakeLists.txt index 8369145..f323136 100755 --- a/agv_pro_description/CMakeLists.txt +++ b/agv_pro_description/CMakeLists.txt @@ -14,7 +14,7 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() -install(DIRECTORY meshes urdf +install(DIRECTORY meshes urdf launch rviz DESTINATION share/${PROJECT_NAME} ) diff --git a/agv_pro_description/launch/agv_pro_display.launch.py b/agv_pro_description/launch/agv_pro_display.launch.py new file mode 100644 index 0000000..9218e09 --- /dev/null +++ b/agv_pro_description/launch/agv_pro_display.launch.py @@ -0,0 +1,49 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + + use_rviz = LaunchConfiguration('use_rviz', default='true') + + rviz_config_dir = os.path.join( + get_package_share_directory('agv_pro_description'), + 'rviz', + 'agvpro_display.rviz') + + urdf_file = os.path.join( + get_package_share_directory('agv_pro_description'), + 'urdf', + 'agv_pro.urdf' + ) + + with open(urdf_file, 'r') as file: + robot_description_content = file.read() + + return LaunchDescription([ + + Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher' + ), + + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[{'robot_description': robot_description_content}] + ), + + Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_dir], + condition=IfCondition(use_rviz), + output='screen') + + ]) diff --git a/agv_pro_description/rviz/agvpro_display.rviz b/agv_pro_description/rviz/agvpro_display.rviz new file mode 100644 index 0000000..ecd17f3 --- /dev/null +++ b/agv_pro_description/rviz/agvpro_display.rviz @@ -0,0 +1,234 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 549 + - 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: + 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_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_rear_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_rear_wheel_link: + 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_footprint: + Value: true + base_link: + Value: true + laser_link: + Value: true + left_front_wheel_link: + Value: true + left_rear_wheel_link: + Value: true + right_front_wheel_link: + Value: true + right_rear_wheel_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_footprint: + base_link: + laser_link: + {} + left_front_wheel_link: + {} + left_rear_wheel_link: + {} + right_front_wheel_link: + {} + right_rear_wheel_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + 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: 1.6701574325561523 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1200 + X: 720 + Y: 343 diff --git a/agv_pro_description/urdf/agv_pro.urdf b/agv_pro_description/urdf/agv_pro.urdf index 1e810dd..c5eee35 100755 --- a/agv_pro_description/urdf/agv_pro.urdf +++ b/agv_pro_description/urdf/agv_pro.urdf @@ -205,10 +205,8 @@ - + - \ No newline at end of file