From: Walter Fetter Lages Date: Sat, 5 Dec 2020 04:59:06 +0000 (-0300) Subject: Removed dependence on s7edge_description. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=6b27aa39b0b56293076fdb8b3f25a948d129a446;p=imu_odometry.git Removed dependence on s7edge_description. --- diff --git a/launch/display.launch b/launch/display.launch index d2c5a5b..577615c 100644 --- a/launch/display.launch +++ b/launch/display.launch @@ -1,18 +1,16 @@ - - + + - + args="0 0 0 0 0 0 1 map enu_link" /> + + - - - + args="enu_link" /> 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 --- 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: 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: 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: 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