added odom and locallization to bag playback

diff --git a/twil_2dnav/config/bag.rviz b/twil_2dnav/config/bag_playback.rviz
similarity index 100%
rename from twil_2dnav/config/bag.rviz
rename to twil_2dnav/config/bag_playback.rviz

diff --git a/twil_2dnav/launch/bag_playback.launch.xml b/twil_2dnav/launch/bag_playback.launch.xml
index 8aaa854..f50f507 100644 (file)
--- a/twil_2dnav/launch/bag_playback.launch.xml
+++ b/twil_2dnav/launch/bag_playback.launch.xml
@@ -1,7 +1,27 @@
 <launch>
-       <arg name="use_sim_time" default="true"/>
+       <arg name="use_sim_time" default="false"/>
+       <arg name="odom" default="noisy_ground_truth"/>
+       <arg name="localization" default="static"/>
 
-       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_2dnav)/config/bag.rviz">
+       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_2dnav)/config/bag_playback.rviz">
                <param name="use_sim_time" value="$(var use_sim_time)"/>
        </node>
+
+    <!-- tf twil_origin->sensors -->
+       <include file="$(find-pkg-share twil_description)/launch/twil.launch.xml">
+               <arg name="wam" value="false" />
+               <arg name="d435" value="true" />
+       </include>
+
+    <!-- tf odom->twil_origin -->
+       <include file="$(find-pkg-share twil_2dnav)/launch/odom_$(var odom).launch.xml">
+        <arg name="controller" value="twist_mrac_controller"/>
+               <arg name="use_sim_time" value="$(var use_sim_time)"/>
+       </include>
+
+    <!-- tf map->odom -->
+       <include file="$(find-pkg-share twil_2dnav)/launch/localization_$(var localization).launch.xml">
+               <arg name="use_sim_time" value="$(var use_sim_time)"/>
+       </include>
+
 </launch>

diff --git a/twil_2dnav/launch/localization_static.launch.xml b/twil_2dnav/launch/localization_static.launch.xml
index 73cafac..0071037 100644 (file)
--- a/twil_2dnav/launch/localization_static.launch.xml
+++ b/twil_2dnav/launch/localization_static.launch.xml
@@ -1,7 +1,7 @@
 <launch>
     <arg name="use_sim_time" default="false"/>
 
-    <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" 
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="map_odom_tf_publisher" 
         args="--frame-id map --child-frame-id odom"/>
 </launch>
 

diff --git a/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml b/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml
index 8bceecb..5e16d64 100644 (file)
--- a/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml
+++ b/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml
@@ -5,7 +5,6 @@
     <node pkg="rtabmap_odom" exec="rgbd_odometry" name="rgbd_odometry" output="screen">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
 
-        <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param name="frame_id" value="twil_origin"/>
         <param name="odom_frame_id" value="odom"/>
         <param name="scan_normal_k" value="10"/>

diff --git a/twil_2dnav/scripts/record_bag.sh b/twil_2dnav/scripts/record_bag.sh
index 042af41..81f4cfc 100755 (executable)
--- a/twil_2dnav/scripts/record_bag.sh
+++ b/twil_2dnav/scripts/record_bag.sh
@@ -11,7 +11,7 @@ output_bag_filename=$1
 
 # Define the local variable with the desired topic names
 camera_topics="/camera/depth/image_scan /camera/depth/camera_info /camera/depth/points /camera/depth/image_raw /camera/color/camera_info /camera/color/image_raw"
-robot_description_topics="/clock /tf /tf_static /robot_description /ground_truth"
+robot_description_topics="/joint_states /ground_truth"
 sensor_topics="/odom /sensor/imu /fake_odom /twist_mrac_controller/odom"
 
 qos_overrides_file="qos_overrides.yaml"