From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sat, 5 Dec 2020 06:30:26 +0000 (-0300)
Subject: Remove dependence on imu_limb_tracking package. Depends on imu_odometry packages... 
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=2e02bb7858d43ed366e2fd65e5edc738736d4303;p=bno055_driver.git

Remove dependence on imu_limb_tracking package. Depends on imu_odometry packages just for display.
---

diff --git a/launch/display.launch b/launch/display.launch
index a52161b..0b8ab24 100644
--- a/launch/display.launch
+++ b/launch/display.launch
@@ -1,8 +1,10 @@
 <launch>
 	<include file="$(find bno055_driver)/launch/bno055.launch"/>
-	<node pkg="tf2_ros" type="static_transform_publisher" 
-		name="imu_origin_publisher"
-		args="0 0 0 0 0 0 1 map base_link" />
-	<node pkg="imu_limb_tracking" type="imu_tf" name="imu_tf" args="base_link"  output="screen" />
-	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find bno055_driver)/rviz/display.rviz" />
+	<node pkg="tf2_ros" type="static_transform_publisher"
+		name="enu_publisher"
+		args="0 0 0 0 0 0.9238795 0.3826834 map enu_link" />
+	<node pkg="imu_odometry" type="imu2tf" name="imu2tf"
+		args="enu_link" output="screen" />
+	<node name="rviz" pkg="rviz" type="rviz"
+		args="-d $(find bno055_driver)/rviz/display.rviz" />
 </launch>
diff --git a/rviz/display.rviz b/rviz/display.rviz
index 3bc3bd4..99d793f 100644
--- a/rviz/display.rviz
+++ b/rviz/display.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.4301801919937134
-    Tree Height: 558
+    Tree Height: 555
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,6 +27,8 @@ Panels:
     SyncSource: Temperature
 Preferences:
   PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -54,6 +56,7 @@ Visualization Manager:
       Enabled: true
       History Length: 1
       Name: Imu (data)
+      Queue Size: 10
       Topic: /imu/data
       Unreliable: false
       Value: true
@@ -63,20 +66,31 @@ Visualization Manager:
       Enabled: true
       History Length: 1
       Name: Imu (raw data)
+      Queue Size: 10
       Topic: /imu/data_raw
       Unreliable: false
       Value: true
-    - Class: rviz/Axes
+    - Alpha: 1
+      Class: rviz/Axes
       Enabled: true
       Length: 5
       Name: Axes (Fixed Frame)
       Radius: 0.10000000149011612
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: rviz/Axes
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (enu_link)
+      Radius: 0.10000000149011612
+      Reference Frame: enu_link
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
       Enabled: true
       Length: 5
-      Name: Axes (base_link)
+      Name: Axes (imu_link)
       Radius: 0.10000000149011612
       Reference Frame: imu_link
       Value: true
@@ -125,7 +139,10 @@ Visualization Manager:
     - 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
@@ -141,6 +158,7 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: -1.5147979259490967
         Y: -1.228423833847046
@@ -152,7 +170,6 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 0.785398006439209
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
       Yaw: 0.785398006439209
     Saved: ~
 Window Geometry:
@@ -161,7 +178,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000024200fffffffb0000000800540069006d0065010000000000000450000000000000000000000296000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000023f00fffffffb0000000800540069006d0065010000000000000450000000000000000000000296000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -171,5 +188,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1372
-  X: 8
+  X: 4
   Y: 0