From f4bac7532992212f67eba2345eec246f75bc06c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 13 Dec 2024 18:09:02 +0100 Subject: [PATCH] Resolve IMU TODO (#675) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Resolve IMU TODO Signed-off-by: Alejandro Hernández Cordero --- ros_gz_sim_demos/launch/imu.launch.xml | 3 +- ros_gz_sim_demos/package.xml | 1 + ros_gz_sim_demos/rviz/imu.rviz | 127 ++++++++++++++++--------- 3 files changed, 83 insertions(+), 48 deletions(-) diff --git a/ros_gz_sim_demos/launch/imu.launch.xml b/ros_gz_sim_demos/launch/imu.launch.xml index 92c9c0d6..d7ef727c 100644 --- a/ros_gz_sim_demos/launch/imu.launch.xml +++ b/ros_gz_sim_demos/launch/imu.launch.xml @@ -8,7 +8,6 @@ config_file="$(find-pkg-share ros_gz_sim_demos)/config/imu.yaml" use_composition="True" /> - - + diff --git a/ros_gz_sim_demos/package.xml b/ros_gz_sim_demos/package.xml index 6ef1de85..414af4fe 100644 --- a/ros_gz_sim_demos/package.xml +++ b/ros_gz_sim_demos/package.xml @@ -22,6 +22,7 @@ rqt_image_view rqt_plot rqt_topic + rviz_imu_plugin rviz2 sdformat_urdf xacro diff --git a/ros_gz_sim_demos/rviz/imu.rviz b/ros_gz_sim_demos/rviz/imu.rviz index 0169390a..2d825af4 100644 --- a/ros_gz_sim_demos/rviz/imu.rviz +++ b/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: 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