Commit 49a7ebda authored by Ricardo Rico Uribe's avatar Ricardo Rico Uribe
Browse files

rviz launch working

parent 169f4960
{
"configurations": [
{
"browse": {
"databaseFilename": "",
"limitSymbolsToIncludedHeaders": true
},
"includePath": [
"/opt/ros/melodic/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "gnu++14"
}
],
"version": 4
}
\ No newline at end of file
{
"ros.distro": "melodic",
"python.autoComplete.extraPaths": [
"/opt/ros/melodic/lib/python2.7/dist-packages"
],
"cmake.configureOnOpen": true
}
\ No newline at end of file
cmake_minimum_required(VERSION 2.8.3)
project(aquanaute_description)
find_package(catkin REQUIRED COMPONENTS roslaunch)
catkin_package()
find_package(catkin REQUIRED COMPONENTS
controller_manager
gazebo_ros
joint_state_publisher
robot_state_publisher
rospy
rviz
roslaunch
)
roslaunch_add_file_check(launch)
catkin_package()
install(
DIRECTORY launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
......
<launch>
<arg name="robot_namespace" default="aquanaute"/>
<param name="robot_description" command="$(find husky_description)/urdf/aquanaute.urdf
robot_namespace:=$(arg robot_namespace)
" />
<param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute.urdf"/>
<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="joint_state_publisher_gui" value="false"/>
</node>
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find aquanaute_description)/rviz/aquanaute.rviz"/>
</launch>
<?xml version="1.0"?>
<package>
<name>aquanaute_description</name>
<version>0.4.2</version>
<version>0.0.1</version>
<description>Aquanaute Boat URDF description</description>
<author email="ricardorico0527@gmail.com">Ricardo RICO URIBE</author>
<maintainer email="ricardorico0527@gmail.com">Ricardo RICO URIBE</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
......
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
Splitter Ratio: 0.5
Tree Height: 719
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/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/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
left_hull_link:
Value: true
motor_link:
Value: true
right_hull_link:
Value: true
sensor_frame_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_link:
left_hull_link:
{}
motor_link:
{}
right_hull_link:
{}
sensor_frame_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
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
Value: true
left_hull_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_hull_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_frame_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 200; 200; 200
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 4.446293830871582
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: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5553984045982361
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.010398030281067
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007430000003efc0100000002fb0000000800540069006d0065010000000000000743000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d20000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1859
X: 1981
Y: 27
<?xml version="1.0"?>
<robot name="aquanaute">
<!-- Macro for creating the main collisions as simple shapes. -->
<xacro:macro name="main_collisions" params="prefix reflect:=1">
<!-- Main float -->
<collision name="${prefix}_float">
<origin xyz="-0.4 ${1.03*reflect} 0.2" rpy="${0*reflect} 1.57 0" />
<geometry>
<cylinder length="4" radius="0.2" />
</geometry>
</collision>
<collision name="${prefix}_mid_float">
<origin xyz="1.85 ${1.03*reflect} 0.3" rpy="${0*reflect} 1.38 0" />
<geometry>
<cylinder length="0.5" radius="0.17" />
</geometry>
</collision>
<collision name="${prefix}_front_float">
<origin xyz="2.3 ${1.03*reflect} 0.4" rpy="${0*reflect} 1.3 0" />
<geometry>
<cylinder length="0.45" radius="0.12" />
</geometry>
</collision>
<!-- Front beam -->
<collision name="front_${prefix}_beam_lower">
<origin xyz="0.9 ${0.85*reflect} 1" rpy="${0.78*reflect} 0 0" />
<geometry>
<cylinder length="0.5" radius="0.04" />
</geometry>
</collision>
<collision name="front_${prefix}_beam_upper">
<origin xyz="0.9 ${0.6*reflect} 1.18" rpy="${1.35*reflect} 0 0" />
<geometry>
<cylinder length="0.2" radius="0.04" />
</geometry>
</collision>
<!-- Mid beam -->
<collision name="mid_${prefix}_beam_lower">
<origin xyz="-0.65 ${0.99*reflect} 0.7" rpy="${0.1*reflect} 0.25 0" />
<geometry>
<cylinder length="0.45" radius="0.03" />
</geometry>
</collision>
<collision name="mid_${prefix}_beam_medium">
<origin xyz="-0.57 ${0.87*reflect} 1.05" rpy="${0.75*reflect} 0.25 0" />
<geometry>
<cylinder length="0.32" radius="0.03" />
</geometry>
</collision>
<collision name="mid_${prefix}_beam_upper">
<origin xyz="-0.55 ${0.65*reflect} 1.17" rpy="${1.35*reflect} 0.25 0" />
<geometry>
<cylinder length="0.3" radius="0.03" />
</geometry>
</collision>
<!-- Rear beam -->
<collision name="rear_${prefix}_beam_lower">
<origin xyz="-0.74 ${1.03*reflect} 0.7" rpy="${0*reflect} -0.15 0" />
<geometry>
<cylinder length="0.45" radius="0.03" />
</geometry>
</collision>
<collision name="rear_${prefix}_beam_medium">
<origin xyz="-0.79 ${0.91*reflect} 1.05" rpy="${0.75*reflect} -0.15 0" />
<geometry>
<cylinder length="0.32" radius="0.03" />
</geometry>
</collision>
<collision name="rear_${prefix}_beam_upper">
<origin xyz="-0.81 ${0.67*reflect} 1.18" rpy="${1.45*reflect} -0.15 0" />
<geometry>
<cylinder length="0.3" radius="0.03" />
</geometry>
</collision>
<!-- Joint -->
<collision name="${prefix}_joint">
<origin xyz="0.58 ${1.03*reflect} 0.6" rpy="${0*reflect} -0.6 0" />
<geometry>
<box size="0.65 0.2 0.1" />
</geometry>
</collision>
</xacro:macro>
<link name="base_link">
</link>
<joint name="dummy_joint" type = "fixed">
<parent link="base_link"/>
<child link="dummy_link"/>
</joint>
<!-- Basic model of the 16' WAM-V USV -->
<link name="dummy_link">
<visual>
<geometry>
<mesh filename="package://wamv_description/models/WAM-V-Base/mesh/WAM-V-Base.dae"/>
</geometry>
</visual>
<!-- Left base collisions -->
<xacro:main_collisions prefix="left" reflect="1" />
<!-- Right side collisions -->
<xacro:main_collisions prefix="right" reflect="-1" />
<!-- Top base -->
<collision name="top_base">
<origin xyz="0 -0 1.25" rpy="0 0 0" />
<geometry>
<box size="1.85 1 0.1" />
</geometry>
</collision>
<inertial>
<!-- From WAM-V spec sheet -->
<mass value="180.0"/>
<inertia ixx="120.0" ixy="0.0" ixz="0.0" iyy="393" iyz="0.0" izz="446.0"/>
</inertial>
</link>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="red">
<color rgba="0.8 0 0 1"/>
</material>
<material name="green">
<color rgba="0 0.8 0 1"/>
</material>
<material name="cyan">
<color rgba="0 0.6 0.6 1"/>
</material>
<material name="yellow">
<color rgba="0.8 0.8 0 1"/>
</material>
<material name="purple">
<color rgba="0.5 0 0.5 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="gray">
<color rgba="0.35 0.35 0.35 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<!-- * * * Link Definitions * * * -->
<link name="base_link">
<!--
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="10.5"/>
<inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
</inertial>
-->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="right_hull_link">
<!--
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="10.5"/>
<inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
</inertial>
-->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="left_hull_link">
<!--
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="10.5"/>
<inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
</inertial>
-->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="motor_link">
<!--
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="10.5"/>
<inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
</inertial>
-->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
</geometry>
<material name="purple"/>
</visual>
</link>
<link name="sensor_frame_link">
<!--
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="10.5"/>
<inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
</inertial>
-->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>
</geometry>
<material name="cyan"/>
</visual>
</link>
<!-- * * * Joint Definitions * * * -->
<joint name="right_hull_platform_joint" type="fixed">
<parent link="base_link"/>
<child link="right_hull_link"/>
<origin xyz="-0.05 -0.7 -0.036" rpy="0 0 0"/>
</joint>
<joint name="left_hull_platform_joint" type="fixed">
<parent link="base_link"/>
<child link="left_hull_link"/>
<origin xyz="-0.05 0.7 -0.036" rpy="0 0 0"/>
</joint>
<joint name="motor_platform_joint" type="fixed">
<parent link="base_link"/>
<child link="motor_link"/>
<origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>
</joint>
<joint name="sensor_frame_platform_joint" type="fixed">
<parent link="base_link"/>
<child link="sensor_frame_link"/>
<origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/>
</joint>
<!--
<joint name="pitch_joint" type="revolute">
<parent link="roll_M1_link"/>
<child link="pitch_M2_link"/>
<origin xyz="0 0 0" rpy="0 -1.5708 0"/>
<limit lower="0" upper="0.44" effort="0.1" velocity="0.005"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="yaw_joint" type="continuous">
<parent link="pitch_M2_link"/>
<child link="yaw_M3_link"/>
<origin xyz="0.01 0 0" rpy="0 1.5708 0"/>
<limit effort="0.1" velocity="0.01"/>
<axis xyz="0 0 1"/>
</joint>
-->