From dd2c1e2e1fe96dc48cec6f8b8297fb3c0df3f07a Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 23 Apr 2025 06:33:51 -0300
Subject: [PATCH] Add bno055_shuttle_description.

---
 config/display.rviz       | 116 ++++++++++++++++++++++++++++++++++++----------
 launch/display.launch.xml |   6 ++-
 2 files changed, 96 insertions(+), 26 deletions(-)

diff --git a/config/display.rviz b/config/display.rviz
index de38ea9..dfe64f1 100644
--- a/config/display.rviz
+++ b/config/display.rviz
@@ -6,10 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Axes (map)1
-        - /Axes (enu_link)1
-        - /Axes (imu_link)1
-        - /Temperature1
+        - /TF1
+        - /TF1/Frames1
       Splitter Ratio: 0.5
     Tree Height: 549
   - Class: rviz_common/Selection
@@ -51,27 +49,55 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: rviz_default_plugins/Axes
-      Enabled: true
-      Length: 5
-      Name: Axes (map)
-      Radius: 0.10000000149011612
-      Reference Frame: map
-      Value: true
-    - Class: rviz_default_plugins/Axes
-      Enabled: true
-      Length: 5
-      Name: Axes (enu_link)
-      Radius: 0.10000000149011612
-      Reference Frame: enu_link
-      Value: true
-    - Class: rviz_default_plugins/Axes
+    - 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
-      Length: 5
-      Name: Axes (imu_link)
-      Radius: 0.10000000149011612
-      Reference Frame: imu_link
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        bno055_shuttle_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bno055_shuttle_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bno055_shuttle_measurement_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        bno055_shuttle_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        bno055_shuttle_socket_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
       Value: true
+      Visual Enabled: true
     - Alpha: 0.30000001192092896
       Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
@@ -94,7 +120,7 @@ Visualization Manager:
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
-      Size (m): 1
+      Size (m): 0.10000000149011612
       Style: Flat Squares
       Topic:
         Depth: 5
@@ -106,6 +132,46 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        bno055_shuttle_base_link:
+          Value: false
+        bno055_shuttle_link:
+          Value: false
+        bno055_shuttle_measurement_frame:
+          Value: true
+        bno055_shuttle_origin:
+          Value: false
+        bno055_shuttle_socket_link:
+          Value: false
+        enu_link:
+          Value: true
+        imu_link:
+          Value: false
+        map:
+          Value: false
+      Marker Scale: 0.20000000298023224
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          enu_link:
+            imu_link:
+              bno055_shuttle_origin:
+                bno055_shuttle_base_link:
+                  bno055_shuttle_socket_link:
+                    bno055_shuttle_link:
+                      bno055_shuttle_measurement_frame:
+                        {}
+      Update Interval: 0
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 255; 255; 255
@@ -152,7 +218,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 18.14019012451172
+      Distance: 0.1501678079366684
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
diff --git a/launch/display.launch.xml b/launch/display.launch.xml
index 9882f30..843ae19 100644
--- a/launch/display.launch.xml
+++ b/launch/display.launch.xml
@@ -1,7 +1,7 @@
 <!--****************************************************************************
                             bno055_driver
                            RViz Launch File
-          Copyright (C) 2019, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2019..2025 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -20,9 +20,13 @@
 *****************************************************************************-->
 
 <launch>
+	<include file="$(find-pkg-share bno055_shuttle_description)/launch/bno055_shuttle.launch.xml"/>
 	<include file="$(find-pkg-share bno055_driver)/launch/bno055.launch.xml"/>
 	<node pkg="tf2_ros" exec="static_transform_publisher" name="enu_publisher"
 		args="--frame-id map --child-frame-id enu_link --qx 0 --qy 0 --qz 0.9238795 --qw 0.3826834"/>
+	<node pkg="tf2_ros" exec="static_transform_publisher" name="bno055_origin_publisher"
+		args="--frame-id imu_link --child-frame-id bno055_shuttle_origin
+		--x -0.00413 --y -0.0007 --z -0.011065 --qx 0 --qy 0 --qz -0.707107 --qw 0.707107"/>
 	<node pkg="imu_odometry" exec="imu2tf" name="imu2tf" args="enu_link"/>
 	<node pkg="rviz2" exec="rviz2" name="rviz"
 		args="-d $(find-pkg-share bno055_driver)/config/display.rviz"/>
-- 
2.12.0