From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Sat, 23 Dec 2023 02:21:50 +0000 (-0300)
Subject: made the odom topic the same to all odom methods
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=7008433915fe6af6e01c4bbc9ffa329f6611b3a3;p=twil.git

made the odom topic the same to all odom methods
---

diff --git a/twil_2dnav/config/twil_2dnav.rviz b/twil_2dnav/config/twil_2dnav.rviz
index f3f66c1..466df50 100644
--- a/twil_2dnav/config/twil_2dnav.rviz
+++ b/twil_2dnav/config/twil_2dnav.rviz
@@ -301,47 +301,8 @@ Visualization Manager:
           Value: true
         Value: true
       Enabled: true
-      Keep: 42
-      Name: Ekf Odom
-      Position Tolerance: 0.30000001192092896
-      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: 10
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /odometry/filtered
-      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: Visual Odom
+      Name: Odometry
       Position Tolerance: 0.10000000149011612
       Shape:
         Alpha: 1
@@ -359,7 +320,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /rtabmap/icp_viodom
+        Value: /odom
       Value: true
     - Alpha: 0.699999988079071
       Class: rviz_default_plugins/Map
@@ -551,7 +512,6 @@ Visualization Manager:
       Value: true
       Visibility:
         Camera Depth: false
-        Ekf Odom: false
         Global Costmap: false
         Global Plan: false
         Grid: true
@@ -560,6 +520,7 @@ Visualization Manager:
         Local Costmap: false
         Local Plan: false
         Map: true
+        Odometry: true
         PointCloud2: false
         Pose Reference: false
         Received Global Plan: false
@@ -567,7 +528,6 @@ Visualization Manager:
         TF: true
         Transformed Global Plan: false
         Value: true
-        Visual Odom: true
       Zoom Factor: 1
     - Class: rviz_default_plugins/Camera
       Enabled: true
@@ -584,7 +544,6 @@ Visualization Manager:
       Value: true
       Visibility:
         Camera Color: false
-        Ekf Odom: false
         Global Costmap: false
         Global Plan: false
         Grid: true
@@ -593,6 +552,7 @@ Visualization Manager:
         Local Costmap: false
         Local Plan: false
         Map: true
+        Odometry: true
         PointCloud2: true
         Pose Reference: false
         Received Global Plan: false
@@ -600,7 +560,6 @@ Visualization Manager:
         TF: true
         Transformed Global Plan: false
         Value: true
-        Visual Odom: true
       Zoom Factor: 1
     - Alpha: 1
       Autocompute Intensity Bounds: true
diff --git a/twil_2dnav/launch/odom_controller.launch.xml b/twil_2dnav/launch/odom_controller.launch.xml
index 6b4e6aa..bd5ec33 100644
--- a/twil_2dnav/launch/odom_controller.launch.xml
+++ b/twil_2dnav/launch/odom_controller.launch.xml
@@ -2,6 +2,7 @@
     <arg name="controller" default=""/>
 
     <node pkg="robot_localization" exec="ekf_node" name="ekf_filter_node">
+        <remap from="odometry/filtered" to="odom"/>
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param name="odom0" value="$(var controller)/odom"/>
         <param from="$(find-pkg-share twil_2dnav)/config/ekf_params.yaml"/>
diff --git a/twil_2dnav/launch/odom_noisy_ground_truth.launch.xml b/twil_2dnav/launch/odom_noisy_ground_truth.launch.xml
index c45e09b..7fe12c3 100644
--- a/twil_2dnav/launch/odom_noisy_ground_truth.launch.xml
+++ b/twil_2dnav/launch/odom_noisy_ground_truth.launch.xml
@@ -1,5 +1,6 @@
 <launch>
     <node pkg="robot_localization" exec="ekf_node" name="ekf_filter_node">
+        <remap from="odometry/filtered" to="odom"/>
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param name="odom0" value="/fake_odom"/>
         <param from="$(find-pkg-share twil_2dnav)/config/ekf_params.yaml"/>
diff --git a/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml b/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml
index 6e9f7b7..1ad0717 100644
--- a/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml
+++ b/twil_2dnav/launch/odom_rtabmap_viodom.launch.xml
@@ -14,7 +14,6 @@
         <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
         <remap from="rgb/image" to="/camera/color/image_raw"/>
 
-        <remap from="odom" to="/rtabmap/icp_viodom" />
         <!-- <param name="scan_normal_k"   type="int" value="10"/>
         <param name="subscribe_scan_cloud" type="bool" value="true"/>