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Suggestions to diff_drive example #676

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merged 2 commits into from
Dec 18, 2024
Merged

Suggestions to diff_drive example #676

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9f4b1ce
Suggestions to diff_drive example
ahcorde Dec 16, 2024
19a26a4
Merge branch 'caguero/diff_drive_demo_v2' into ahcorde/diff_drive_dem…
ahcorde Dec 18, 2024
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4 changes: 2 additions & 2 deletions ros_gz_sim_demos/launch/diff_drive.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
<param name="qos_overrides./model/vehicle_green.subscriber.reliability" value='reliable'></param>
</ros_gz_bridge>
<node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/diff_drive.rviz" />
<node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world --child-frame-id vehicle_green/odom" />
<node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world --child-frame-id vehicle_blue/odom" />
<node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world --child-frame-id vehicle_green/odom --y -2" />
<node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world --child-frame-id vehicle_blue/odom --y 2" />
<executable cmd="gz sim -g" />
</launch>
78 changes: 68 additions & 10 deletions ros_gz_sim_demos/rviz/diff_drive.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,9 @@ Panels:
Expanded:
- /Global Options1
- /Odometry1
- /Odometry2
Splitter Ratio: 0.5
Tree Height: 688
Tree Height: 701
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand All @@ -23,6 +24,24 @@ Panels:
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Expand Down Expand Up @@ -62,6 +81,45 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /model/vehicle_blue/odometry
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: Odometry
Position Tolerance: 0.10000000149011612
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: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /model/vehicle_green/odometry
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -106,39 +164,39 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 68.66040802001953
Distance: 21.00491714477539
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.2689772844314575
Y: 10.203336715698242
Z: -2.8907392024993896
X: -0.4080231189727783
Y: 0.40098077058792114
Z: 2.436375617980957
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Pitch: 0.5847957730293274
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.8253979682922363
Yaw: 0.4803982973098755
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000023d000002f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002f0000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026d000002f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000023d000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026d000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 325
Y: 158
X: 554
Y: 154
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