Removed dependence on s7edge_description.

diff --git a/launch/display.launch b/launch/display.launch
index d2c5a5b..577615c 100644 (file)
--- a/launch/display.launch
+++ b/launch/display.launch
@@ -1,18 +1,16 @@
 <launch>
-       <include file="$(find s7edge_description)/launch/s7edge.launch"/>
-       <node pkg="tf2_ros" type="static_transform_publisher" 
+       <arg name="android" default="false"/>
+
+       <node pkg="tf2_ros" type="static_transform_publisher"
                name="imu_origin_publisher"
-               args="0 0 0 0 0 0 1 imu origin_link" />
-       <node pkg="tf2_ros" type="static_transform_publisher" 
-               name="illuminance_origin_publisher" 
-               args="0 0 0 0 0 0 1 origin_link android_illuminance" />
+               args="0 0 0 0 0 0 1 map enu_link" />
+       <node if="$(arg android)" pkg="tf2_ros" type="static_transform_publisher"
+               name="imu_publisher"
+               args="0 0 0 0 0 0 1 imu imu_link" />
+       <remap if="$(arg android)" from="/imu/data" to="/android/imu" />
        <node pkg="imu_odometry" type="imu2tf" name="imu2tf"
-               args="map" >
-               <remap from="/imu/data" to="/android/imu" />
-       </node>
-       <node name="robot_state_publisher" pkg="robot_state_publisher"
-               type="state_publisher" />
+               args="enu_link" />
        <node name="rviz" pkg="rviz" type="rviz"
-               args="-d $(find imu_odometry)/rviz/imu2tf.rviz"
+               args="-d $(find imu_odometry)/rviz/display.rviz"
                required="true" />
 </launch>

diff --git a/rviz/imu2tf.rviz b/rviz/display.rviz
similarity index 52%
rename from rviz/imu2tf.rviz
rename to rviz/display.rviz
index b6d695a..f1113e3 100644 (file)
--- a/rviz/imu2tf.rviz
+++ b/rviz/display.rviz
@@ -1,16 +1,11 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 70
+    Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
-        - /RobotModel1/Links1
-        - /RobotModel1/Links1/base_link1
-      Splitter Ratio: 0.37254902720451355
-    Tree Height: 566
+      Expanded: ~
+      Splitter Ratio: 0.4301801919937134
+    Tree Height: 558
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -54,109 +49,47 @@ Visualization Manager:
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
       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: true
-          Show Trail: false
-          Value: true
-        origin_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: false
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: fluid_pressure
-      Class: rviz/FluidPressure
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 105000
-      Min Color: 0; 0; 0
-      Min Intensity: 98000
-      Name: FluidPressure
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.20000000298023224
-      Style: Flat Squares
-      Topic: /android/barometric_pressure
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: false
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: illuminance
-      Class: rviz/Illuminance
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 1000
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Illuminance
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.30000001192092896
-      Style: Flat Squares
-      Topic: /android/illuminance
+      History Length: 1
+      Name: Imu (data)
+      Topic: /imu/data
       Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 0
+      Value: true
+    - Alpha: 0.10000000149011612
       Class: rviz_plugin_tutorials/Imu
-      Color: 204; 51; 204
-      Enabled: false
+      Color: 57; 52; 204
+      Enabled: true
       History Length: 1
-      Name: Imu
-      Topic: /android/imu
+      Name: Imu (raw data)
+      Topic: /imu/data_raw
       Unreliable: false
-      Value: false
+      Value: true
     - Class: rviz/Axes
       Enabled: true
-      Length: 0.10000000149011612
-      Name: Axes
-      Radius: 0.009999999776482582
+      Length: 5
+      Name: Axes (Fixed Frame)
+      Radius: 0.10000000149011612
       Reference Frame: <Fixed Frame>
       Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (enu_link)
+      Radius: 0.10000000149011612
+      Reference Frame: enu_link
+      Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (imu_link)
+      Radius: 0.10000000149011612
+      Reference Frame: imu_link
+      Value: true
   Enabled: true
   Global Options:
-    Background Color: 255; 255; 255
+    Background Color: 249; 249; 249
     Default Light: true
     Fixed Frame: map
     Frame Rate: 30
@@ -179,25 +112,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.7528845071792603
+      Distance: 24.678123474121094
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.04801877215504646
-        Y: 0.2480122596025467
-        Z: 0.626509428024292
+        X: -1.5147979259490967
+        Y: -1.228423833847046
+        Z: 1.93975031375885
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.35539859533309937
+      Pitch: 0.785398006439209
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.703586578369141
+      Yaw: 0.785398006439209
     Saved: ~
 Window Geometry:
   Displays:
@@ -205,7 +138,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001cd000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004ea0000003efc0100000002fb0000000800540069006d00650100000000000004ea0000024200fffffffb0000000800540069006d0065010000000000000450000000000000000000000202000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000024200fffffffb0000000800540069006d00650100000000000004500000000000000000000002960000020d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -214,6 +147,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1258
-  X: 32
+  Width: 1372
+  X: 0
   Y: 0