Merge branch 'ros2' into caguero/triggered_camera_demo_v2

ros_gz_sim_demos/README.md

@@ -116,7 +116,7 @@ Using Gazebo Sim plugin:
 
 Publishes IMU readings.
 
-    ros2 launch ros_gz_sim_demos imu.launch.py
+    ros2 launch ros_gz_sim_demos imu.launch.xml
 
 ![](images/imu_demo.png)
 

ros_gz_sim_demos/config/imu.yaml

@@ -0,0 +1,6 @@
+# IMU configuration.
+- topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/launch/imu.launch.xml

@@ -0,0 +1,13 @@
+<launch>
+  <gz_server
+    world_sdf_file="sensors.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/imu.yaml"
+    use_composition="True" />
+  <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/imu.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>

ros_gz_sim_demos/package.xml

@@ -22,6 +22,7 @@
   <exec_depend>rqt_image_view</exec_depend>
   <exec_depend>rqt_plot</exec_depend>
   <exec_depend>rqt_topic</exec_depend>
+  <exec_depend>rviz_imu_plugin</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sdformat_urdf</exec_depend>
   <exec_depend>xacro</exec_depend>

ros_gz_sim_demos/rviz/imu.rviz

@@ -1,43 +1,41 @@
 Panels:
-  - Class: rviz/Displays
+  - Class: rviz_common/Displays
     Help Height: 78
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /Status1
+        - /Grid1
         - /Imu1
-        - /Imu1/Status1
+        - /Imu1/Axes properties1
+        - /Imu1/Acceleration properties1
       Splitter Ratio: 0.5
-    Tree Height: 352
-  - Class: rviz/Selection
+    Tree Height: 555
+  - Class: rviz_common/Selection
     Name: Selection
-  - Class: rviz/Tool Properties
+  - Class: rviz_common/Tool Properties
     Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
+      - /2D Goal Pose1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
+  - Class: rviz_common/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
-  - Class: rviz/Time
+  - Class: rviz_common/Time
     Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
     - Alpha: 0.5
       Cell Size: 1
-      Class: rviz/Grid
+      Class: rviz_default_plugins/Grid
       Color: 160; 160; 164
       Enabled: true
       Line Style:
@@ -53,53 +51,90 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
-      Class: rviz_plugin_tutorials/Imu
-      Color: 204; 51; 204
+    - Acceleration properties:
+        Acc. vector alpha: 1
+        Acc. vector color: 255; 0; 0
+        Acc. vector scale: 1
+        Derotate acceleration: true
+        Enable acceleration: true
+      Axes properties:
+        Axes scale: 1
+        Enable axes: true
+      Box properties:
+        Box alpha: 1
+        Box color: 255; 0; 0
+        Enable box: false
+        x_scale: 1
+        y_scale: 1
+        z_scale: 1
+      Class: rviz_imu_plugin/Imu
       Enabled: true
-      History Length: 1
       Name: Imu
-      Topic: /imu
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /imu
       Value: true
+      fixed_frame_orientation: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: sensors/sensors_box/link/imu
+    Fixed Frame: sensors_box/link/imu
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/Interact
+    - Class: rviz_default_plugins/Interact
       Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - 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
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
       Single click: true
-      Topic: /clicked_point
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
-      Distance: 33.22251510620117
+      Class: rviz_default_plugins/Orbit
+      Distance: 29.85377311706543
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -1.7206333875656128
-        Y: -0.9246708154678345
-        Z: 1.870512843132019
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -113,10 +148,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 575
+  Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000191000001e9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001e9000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003d70000003efc0100000002fb0000000800540069006d00650000000000000003d70000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000001a2000001e900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -125,6 +160,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 825
-  X: 751
-  Y: 92
+  Width: 1200
+  X: 2219
+  Y: 69