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Fix/with ros2bag #101

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merged 4 commits into from
Nov 3, 2024
Merged

Fix/with ros2bag #101

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0ffe4b7
Fix coordinate from lonlat to robot.
shunsugar Oct 29, 2024
71080e0
Add lonlat_to_odom.
shunsugar Oct 29, 2024
5bebbf8
Fix left and right wheel bug and add some nodes.
shunsugar Oct 29, 2024
d777292
Add use_sim_time in launch file.
shunsugar Nov 1, 2024
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4 changes: 4 additions & 0 deletions orange_bringup/launch/data_processing.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,10 @@
<!-- Fast lio odom -->
<include file="$(find-pkg-share fast_lio)/launch/mapping.launch.py"/>
<node pkg="fast_odom_convert" exec="fast_odom_convert"/>
<!-- GPSposition converter -->
<node pkg="orange_bringup" exec="lonlat_to_odom" output="screen">
<param name="Position_magnification" value="1.675"/>
</node>
<!-- combination_GPSposition_GPSheading -->
<node pkg="orange_bringup" exec="combination" output="screen"/>
<!-- ekf_myself -->
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46 changes: 32 additions & 14 deletions orange_bringup/launch/with_ros2bag.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,16 +14,6 @@
<arg name="merged_cloud_topic" default="/merged_cloud"/>
<arg name="merged_scan_topic" default="/merged_scan"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
<!-- robot_state_publisher -->
<node pkg="robot_state_publisher" exec="robot_state_publisher">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
</node>
<!-- joint_state_publisher -->
<node pkg="joint_state_publisher" exec="joint_state_publisher">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
</node>
<!-- robot_localization -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/localization.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
Expand All @@ -33,17 +23,32 @@
</include>-->
<!-- Fast lio odom -->
<include file="$(find-pkg-share fast_lio)/launch/mapping.launch.py">
<arg name="use_sim_time" value="false"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node pkg="fast_odom_convert" exec="fast_odom_convert"/>
<node pkg="fast_odom_convert" exec="fast_odom_convert">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<!-- GPSposition converter -->
<node pkg="orange_bringup" exec="lonlat_to_odom" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="Position_magnification" value="1.675"/>
</node>
<!-- combination_GPSposition_GPSheading -->
<node pkg="orange_bringup" exec="combination" output="screen"/>
<node pkg="orange_bringup" exec="combination" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<!-- ekf_myself -->
<node pkg="orange_bringup" exec="ekf_myself" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="ekf_publish_TF" value="$(var ekf_publish_TF)"/>
<param name="speed_limit" value="3.5"/>
<param name="speed_stop" value="0.15"/>
</node>
<!-- livox_to_pointcloud2 -->
<node pkg="livox_to_pointcloud2" exec="livox_to_pointcloud2_node">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<remap from="/livox_pointcloud" to="/livox/lidar"/>
</node>
<!-- ground_segmentation -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<arg name="config_file_path" value="$(find-pkg-share orange_sensor_tools)/config/ground_segmentation.yaml"/>
Expand All @@ -53,7 +58,9 @@
<arg name="obstacle_output_topic" value="$(var velodyne_points_topic)/obstacle"/>
</include>-->
<!-- ground_segmentation2 -->
<include file="$(find-pkg-share pcd_convert)/launch/pcd_convert.launch.py"/>
<include file="$(find-pkg-share pcd_convert)/launch/pcd_convert.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<!-- pointcloud_to_laserscan -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
Expand All @@ -62,6 +69,7 @@
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="cloud_in" value="/pcd_segment_obs"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
Expand All @@ -74,4 +82,14 @@
<arg name="scan_destination_topic" value="$(var merged_scan_topic)"/>
<arg name="laserscan_topics" value="$(var hokuyo_scan_topic) $(var velodyne_scan_topic)"/>
</include>-->
<!-- robot_state_publisher -->
<node pkg="robot_state_publisher" exec="robot_state_publisher">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
</node>
<!-- joint_state_publisher -->
<node pkg="joint_state_publisher" exec="joint_state_publisher">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
</node>
</launch>
3 changes: 2 additions & 1 deletion orange_bringup/orange_bringup/lonlat_to_odom.py
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,8 @@ def conversion(self, coordinate, origin, theta):
r_theta = theta * degree_to_radian
h_x = math.cos(r_theta) * gps_x - math.sin(r_theta) * gps_y
h_y = math.sin(r_theta) * gps_x + math.cos(r_theta) * gps_y
point = (-h_y, h_x)
point = (h_y, -h_x)
# point = (-h_y, h_x)
# point = (h_y, -h_x)

return point
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