added bag record script and bag playback launch

diff --git a/twil_2dnav/config/bag.rviz b/twil_2dnav/config/bag.rviz
new file mode 100644 (file)
index 0000000..d968437
--- /dev/null
+++ b/twil_2dnav/config/bag.rviz
@@ -0,0 +1,382 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 305
+  - 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: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      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
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odom
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Ground_truth
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 0; 255; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ground_truth
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/image_scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/Camera
+      Enabled: false
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera depth
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/image_raw
+      Value: false
+      Visibility:
+        Camera color: true
+        Grid: true
+        Ground_truth: true
+        Image color: true
+        LaserScan: true
+        Odom: true
+        PointCloud2: true
+        RobotModel: true
+        TF: true
+        Value: true
+      Zoom Factor: 1
+    - Class: rviz_default_plugins/Camera
+      Enabled: false
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera color
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/color/image_raw
+      Value: false
+      Visibility:
+        Camera depth: true
+        Grid: true
+        Ground_truth: true
+        Image color: true
+        LaserScan: true
+        Odom: true
+        PointCloud2: true
+        RobotModel: true
+        TF: true
+        Value: true
+      Zoom Factor: 1
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image color
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/color/image_raw
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    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:
+      Angle: 0
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 35
+      Target Frame: twil_origin
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Camera color:
+    collapsed: false
+  Camera depth:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 999
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image color:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000034dfc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001ba000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000117000000500000000000000000fb0000000a0049006d00610067006500000001b1000000700000000000000000fb0000001800430061006d00650072006100200064006500700074006800000001080000009b0000002800fffffffb0000001800430061006d00650072006100200063006f006c006f00720000000144000000c90000002800fffffffb000000160049006d00610067006500200063006f006c006f007201000001fb0000018d0000002800ffffff000000010000010f0000034dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000034d000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007740000003efc0100000002fb0000000800540069006d00650100000000000007740000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000005030000034d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1908
+  X: 0
+  Y: 0

diff --git a/twil_2dnav/launch/bag_playback.launch.xml b/twil_2dnav/launch/bag_playback.launch.xml
new file mode 100644 (file)
index 0000000..8aaa854
--- /dev/null
+++ b/twil_2dnav/launch/bag_playback.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+       <arg name="use_sim_time" default="true"/>
+
+       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_2dnav)/config/bag.rviz">
+               <param name="use_sim_time" value="$(var use_sim_time)"/>
+       </node>
+</launch>

diff --git a/twil_2dnav/scripts/qos_overrides.yaml b/twil_2dnav/scripts/qos_overrides.yaml
new file mode 100644 (file)
index 0000000..c0ae665
--- /dev/null
+++ b/twil_2dnav/scripts/qos_overrides.yaml
@@ -0,0 +1,3 @@
+/tf:
+  durability: volatile
+  history: keep_all
\ No newline at end of file

diff --git a/twil_2dnav/scripts/record_bag.sh b/twil_2dnav/scripts/record_bag.sh
new file mode 100755 (executable)
index 0000000..042af41
--- /dev/null
+++ b/twil_2dnav/scripts/record_bag.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Check if the number of arguments is correct
+if [ $# -ne 1 ]; then
+  echo "Usage: $0 <output_bag_filename>"
+  exit 1
+fi
+
+# Assign the argument to the output filename
+output_bag_filename=$1
+
+# Define the local variable with the desired topic names
+camera_topics="/camera/depth/image_scan /camera/depth/camera_info /camera/depth/points /camera/depth/image_raw /camera/color/camera_info /camera/color/image_raw"
+robot_description_topics="/clock /tf /tf_static /robot_description /ground_truth"
+sensor_topics="/odom /sensor/imu /fake_odom /twist_mrac_controller/odom"
+
+qos_overrides_file="qos_overrides.yaml"
+
+# Execute the rosbag command with proper formatting
+ros2 bag record -o "$output_bag_filename" --qos-profile-overrides-path $qos_overrides_file $robot_description_topics $camera_topics $sensor_topics