From 670fabcc341b135592830031e36708fb484c8a2d Mon Sep 17 00:00:00 2001
From: greymfm <alexandergrau@gmx.de>
Date: Thu, 1 Aug 2024 14:15:41 +0200
Subject: [PATCH] fuxtec ros: stanley tuning

---
 ros/src/mcl_3dl/config/mcl_3dl_demo.rviz         | 10 +++++-----
 ros/src/sunray_node/launch/owl_fuxtec_ros.launch |  3 +++
 ros/src/sunray_node/launch/owlmower.launch       |  3 +++
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/ros/src/mcl_3dl/config/mcl_3dl_demo.rviz b/ros/src/mcl_3dl/config/mcl_3dl_demo.rviz
index d8960cc09..9626e4ea4 100644
--- a/ros/src/mcl_3dl/config/mcl_3dl_demo.rviz
+++ b/ros/src/mcl_3dl/config/mcl_3dl_demo.rviz
@@ -417,11 +417,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 31.11104393005371
+      Scale: 26.729751586914062
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz)
-      X: -0.3860437572002411
-      Y: 6.518465042114258
+      X: -2.4317750930786133
+      Y: 4.798335075378418
     Saved: ~
 Window Geometry:
   Displays:
@@ -439,5 +439,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1522
-  X: 331
-  Y: 36
+  X: 483
+  Y: 80
diff --git a/ros/src/sunray_node/launch/owl_fuxtec_ros.launch b/ros/src/sunray_node/launch/owl_fuxtec_ros.launch
index 51a2476fa..49580939e 100644
--- a/ros/src/sunray_node/launch/owl_fuxtec_ros.launch
+++ b/ros/src/sunray_node/launch/owl_fuxtec_ros.launch
@@ -40,7 +40,10 @@
 
 	<!-- only test LiDAR driver -->
 	<group if="$(eval sunray_ros_mode  == 'TEST_LIDAR')"> 
+		<!--
 		<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ground_lidar_processor)/launch/test.rviz"  if="$(arg rviz)" />
+		-->
+		<node pkg="sunray_node" type="sunray_node" name="sunray_node" output="screen"   if="$(arg start_sunray_node)" />		
 	</group>
 
 
diff --git a/ros/src/sunray_node/launch/owlmower.launch b/ros/src/sunray_node/launch/owlmower.launch
index 6e783ed18..cd87ff93d 100644
--- a/ros/src/sunray_node/launch/owlmower.launch
+++ b/ros/src/sunray_node/launch/owlmower.launch
@@ -40,7 +40,10 @@
 
 	<!-- only test LiDAR driver -->
 	<group if="$(eval sunray_ros_mode  == 'TEST_LIDAR')"> 
+		<!--
 		<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ground_lidar_processor)/launch/test.rviz"  if="$(arg rviz)" />
+		-->
+		<node pkg="sunray_node" type="sunray_node" name="sunray_node" output="screen"   if="$(arg start_sunray_node)" />		
 	</group>