Fix launch files.

diff --git a/tatuira_bringup/launch/gazebo8.launch.xml b/tatuira_bringup/launch/gazebo8.launch.xml
index 1433c21..864d8d9 100644 (file)
--- a/tatuira_bringup/launch/gazebo8.launch.xml
+++ b/tatuira_bringup/launch/gazebo8.launch.xml
@@ -47,7 +47,11 @@
        </node>
 
 
-       <node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp" args="_frame_id:=map"/>
+       <node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp">
+               <param name="use_sim_time" value="$(var use_sim_time)"/>
+               <param name="frame_id" value="map"/>
+               <remap from="command" to="/$(var controller)/command"/>
+       </node>
 
        <group>
        <include file="$(find-pkg-share tatuira_description)/launch/display.launch.xml">

diff --git a/tatuira_description/config/display.rviz b/tatuira_description/config/display.rviz
index 906f73e..f6d34c1 100644 (file)
--- a/tatuira_description/config/display.rviz
+++ b/tatuira_description/config/display.rviz
@@ -6,8 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /RobotModel1
         - /RobotModel1/Description Topic1
+        - /Ground Turth1/Shape1
+        - /Odometry1/Shape1
       Splitter Ratio: 0.5
     Tree Height: 549
   - Class: rviz_common/Selection
@@ -264,6 +265,104 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz_default_plugins/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Command
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /command_stamped
+      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 Turth
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 170; 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
+    - 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: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 85; 0; 255
+        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: /nonsmooth_backstep_controller/odom
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48

diff --git a/tatuira_description/launch/display.launch.xml b/tatuira_description/launch/display.launch.xml
index ac5fd60..f2ec46e 100644 (file)
--- a/tatuira_description/launch/display.launch.xml
+++ b/tatuira_description/launch/display.launch.xml
@@ -22,10 +22,14 @@
 <launch>
        <arg name="gui" default="false"/>
        <arg name="d435" default="false"/>
+       <arg name="use_sim_time" default="false"/>
+
        <group if="$(var gui)">
                <node pkg="tf2_ros" exec="static_transform_publisher" name="tatuira_origin_publisher" args="--frame-id map --child-frame-id origin_link"/>
                <node name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
        </group>
        <include file="$(find-pkg-share tatuira_description)/launch/tatuira.launch.xml"/>
-       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share tatuira_description)/config/display.rviz"/>
+       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share tatuira_description)/config/display.rviz">
+               <param name="use_sim_time" value="$(var use_sim_time)"/>
+       </node>
 </launch>