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Added joint state publisher GUI support. (#9)
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
1 parent 0e39a06 commit f8cd337

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3 files changed

+77
-10
lines changed

3 files changed

+77
-10
lines changed

config/rviz/urdf.rviz

Lines changed: 75 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ Panels:
88
- /Status1
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- /RobotModel1/Description Topic1
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Splitter Ratio: 0.5
11-
Tree Height: 719
11+
Tree Height: 1096
1212
- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -76,6 +76,16 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
79+
camera_holder:
80+
Alpha: 1
81+
Show Axes: false
82+
Show Trail: false
83+
Value: true
84+
camera_link:
85+
Alpha: 1
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Show Axes: false
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Show Trail: false
88+
Value: true
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front_left_wheel:
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Alpha: 1
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Show Axes: false
@@ -95,6 +105,9 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
108+
Mass Properties:
109+
Inertia: false
110+
Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
@@ -127,12 +140,62 @@ Visualization Manager:
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Topic:
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Depth: 5
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Durability Policy: Volatile
143+
Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /scan
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
150+
- Class: rviz_default_plugins/TF
151+
Enabled: true
152+
Filter (blacklist): ""
153+
Filter (whitelist): ""
154+
Frame Timeout: 15
155+
Frames:
156+
All Enabled: true
157+
back_left_wheel:
158+
Value: true
159+
back_right_wheel:
160+
Value: true
161+
base_link:
162+
Value: true
163+
camera_holder:
164+
Value: true
165+
camera_link:
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Value: true
167+
front_left_wheel:
168+
Value: true
169+
front_right_wheel:
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Value: true
171+
imu_link:
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Value: true
173+
two_d_lidar:
174+
Value: true
175+
Marker Scale: 1
176+
Name: TF
177+
Show Arrows: true
178+
Show Axes: true
179+
Show Names: true
180+
Tree:
181+
base_link:
182+
back_left_wheel:
183+
{}
184+
back_right_wheel:
185+
{}
186+
camera_holder:
187+
camera_link:
188+
{}
189+
front_left_wheel:
190+
{}
191+
front_right_wheel:
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{}
193+
imu_link:
194+
{}
195+
two_d_lidar:
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{}
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Update Interval: 0
198+
Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
@@ -148,6 +211,9 @@ Visualization Manager:
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
214+
Covariance x: 0.25
215+
Covariance y: 0.25
216+
Covariance yaw: 0.06853891909122467
151217
Topic:
152218
Depth: 5
153219
Durability Policy: Volatile
@@ -176,16 +242,16 @@ Visualization Manager:
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Views:
177243
Current:
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Class: rviz_default_plugins/Orbit
179-
Distance: 3.2476859092712402
245+
Distance: 0.6049186587333679
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
186-
X: 2.521528959274292
187-
Y: -1.4697494506835938
188-
Z: 0.991876482963562
252+
X: 2.280341625213623
253+
Y: -1.7428354024887085
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Z: 1.045596957206726
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
@@ -199,16 +265,16 @@ Visualization Manager:
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Window Geometry:
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Displays:
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collapsed: false
202-
Height: 948
268+
Height: 1319
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Hide Left Dock: false
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Hide Right Dock: true
205-
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006240000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
271+
QMainWindow State: 000000ff00000000fd000000040000000000000156000004d1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004d1000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000008a4000004d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
206272
Selection:
207273
collapsed: false
208274
Tool Properties:
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collapsed: false
210276
Views:
211277
collapsed: true
212-
Width: 1920
278+
Width: 2560
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X: 0
214-
Y: 27
280+
Y: 32

launch/description/rviz.launch.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@ def generate_launch_description():
1818
"""
1919
# .................. Configurable Arguments .....................
2020

21-
gui = False
21+
gui = True
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2323
camera_enabled = True
2424
two_d_lidar_enabled = True

package.xml

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -23,6 +23,7 @@
2323
<exec_depend>nav2_controller</exec_depend>
2424
<exec_depend>nav2_planner</exec_depend>
2525
<exec_depend>joint_state_publisher</exec_depend>
26+
<exec_depend>joint_state_publisher_gui</exec_depend>
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<!-- Custom dependencies -->
2829
<exec_depend>key_teleop_ros</exec_depend>

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