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Update/launch file #90

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merged 2 commits into from
Oct 11, 2024
Merged

Update/launch file #90

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30e90df
Fix publish_TF bag.
shunsugar Oct 10, 2024
dfe14e7
Update launch file.
shunsugar Oct 10, 2024
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99 changes: 50 additions & 49 deletions orange_bringup/launch/orange_robot.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,14 +15,15 @@
<arg name="cmd_rpm_topic" default="/vel/cmd_rpm"/>
<arg name="cmd_deg_topic" default="/pos/cmd_deg"/>
<arg name="cmd_dist_topic" default="/pos/cmd_dist"/>
<arg name="hokuyo_scan_topic" default="/hokuyo_scan"/>
<arg name="odom_topic" default="/odom"/>
<arg name="imu_topic" default="/livox/imu"/>
<arg name="fusion_odom_topic" default="/fusion/odom"/>
<arg name="ekf_publish_TF" default="false"/>
<arg name="hokuyo_scan_topic" default="/hokuyo_scan"/>
<arg name="velodyne_scan_topic" default="/velodyne_scan"/>
<arg name="velodyne_points_topic" default="/velodyne_points"/>
<arg name="livox_scan_topic" default="/livox_scan"/>
<arg name="livox_points_topic" default="/livox_points"/>
<arg name="velodyne_points_topic" default="/velodyne_points"/>
<arg name="merged_cloud_topic" default="/merged_cloud"/>
<arg name="merged_scan_topic" default="/merged_scan"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
Expand All @@ -35,12 +36,47 @@
<node pkg="joint_state_publisher" exec="joint_state_publisher">
<param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
</node>
<!-- robot_localization
<include file="$(find-pkg-share orange_sensor_tools)/launch/localization.launch.xml">
<!-- motor_driver_node -->
<node pkg="orange_bringup" exec="motor_driver_node" output="screen">
<param from="$(var motor_driver_config_file_path)"/>
<param name="port" value="/dev/ZLAC8015D"/>
<param name="control_mode" value="$(var control_mode)"/>
<param name="debug" value="$(var debug_motor)"/>
<param name="twist_cmd_vel_topic" value="$(var twist_cmd_vel_topic)"/>
<param name="cmd_vel_topic" value="$(var cmd_vel_topic)"/>
<param name="cmd_rpm_topic" value="$(var cmd_rpm_topic)"/>
<param name="cmd_deg_topic" value="$(var cmd_deg_topic)"/>
<param name="cmd_dist_topic" value="$(var cmd_dist_topic)"/>
<param name="publish_TF" value="$(var publish_TF)"/>
<param name="TF_header_frame" value="odom"/>
<param name="TF_child_frame" value="base_footprint"/>
<param name="publish_odom" value="$(var publish_odom)"/>
<param name="odom_header_frame" value="odom"/>
<param name="odom_child_frame" value="base_footprint"/>
</node>
<!-- estop -->
<node pkg="estop_ros" exec="cmd_vel_override_node" output="screen">
<param name="port" value="/dev/sensors/estop"/>
<param name="baudrate" value="115200"/>
<param name="time_out" value="500"/>
<param name="serial_interval" value="0.01"/>
<remap from="/estop/state" to="/estop"/>
</node>
<!-- imu -->
<include file="$(find-pkg-share icm_20948)/launch/run.launch.xml">
<arg name="port" value="/dev/sensors/imu"/>
<arg name="time_out" value="0.5"/>
<arg name="baudrate" value="115200"/>
<arg name="imu_topic" value="imu"/>
<arg name="frame_id" value="imu_link"/>
<arg name="debug" value="$(var debug_imu)"/>
</include>
<!-- robot_localization -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/localization.launch.xml">
<arg name="odom_in" value="$(var odom_topic)"/>
<arg name="imu_in" value="$(var imu_topic)"/>
<arg name="fusion_odom_out" value="$(var fusion_odom_topic)"/>
</include> -->
</include>-->
<!-- GPSposition_publisher -->
<!-- initial heading:housei nakaniwa=179.169287 tsukuba= 291.09504 -->
<node pkg="orange_bringup" exec="fix_to_GPSodom" output="screen">
Expand All @@ -63,26 +99,16 @@
</node>
<!-- ekf_myself -->
<node pkg="orange_bringup" exec="ekf_myself" output="screen">
<param name="ekf_publish_TF" value="True"/>
</node>
<!-- motor_driver_node -->
<node pkg="orange_bringup" exec="motor_driver_node" output="screen">
<param from="$(var motor_driver_config_file_path)"/>
<param name="port" value="/dev/ZLAC8015D"/>
<param name="control_mode" value="$(var control_mode)"/>
<param name="debug" value="$(var debug_motor)"/>
<param name="twist_cmd_vel_topic" value="$(var twist_cmd_vel_topic)"/>
<param name="cmd_vel_topic" value="$(var cmd_vel_topic)"/>
<param name="cmd_rpm_topic" value="$(var cmd_rpm_topic)"/>
<param name="cmd_deg_topic" value="$(var cmd_deg_topic)"/>
<param name="cmd_dist_topic" value="$(var cmd_dist_topic)"/>
<param name="publish_TF" value="$(var publish_TF)"/>
<param name="TF_header_frame" value="odom"/>
<param name="TF_child_frame" value="base_footprint"/>
<param name="publish_odom" value="$(var publish_odom)"/>
<param name="odom_header_frame" value="odom"/>
<param name="odom_child_frame" value="base_footprint"/>
<param name="ekf_publish_TF" value="$(var ekf_publish_TF)"/>
</node>
<!-- hokuyo -->
<!--<node pkg="urg_node" exec="urg_node_driver">
<param name="serial_port" value="/dev/sensors/hokuyo_urg"/>
<param name="laser_frame_id" value="hokuyo_link"/>
<param name="angle_max" value="1.22"/>
<param name="angle_min" value="-1.22"/>
<remap from="/scan" to="/hokuyo_scan"/>
</node>-->
<!-- velodyne -->
<!--<node pkg="velodyne_driver" exec="velodyne_driver_node">
<param name="device_ip" value=""/>
Expand Down Expand Up @@ -114,31 +140,6 @@
<node pkg="livox_to_pointcloud2" exec="livox_to_pointcloud2_node">
<remap from="/livox_pointcloud" to="/livox/lidar"/>
</node>
<!-- hokuyo -->
<!--<node pkg="urg_node" exec="urg_node_driver">
<param name="serial_port" value="/dev/sensors/hokuyo_urg"/>
<param name="laser_frame_id" value="hokuyo_link"/>
<param name="angle_max" value="1.22"/>
<param name="angle_min" value="-1.22"/>
<remap from="/scan" to="/hokuyo_scan"/>
</node>-->
<!-- imu -->
<!--<include file="$(find-pkg-share icm_20948)/launch/run.launch.xml">
<arg name="port" value="/dev/sensors/imu"/>
<arg name="time_out" value="0.5"/>
<arg name="baudrate" value="115200"/>
<arg name="imu_topic" value="imu"/>
<arg name="frame_id" value="imu_link"/>
<arg name="debug" value="$(var debug_imu)"/>
</include>-->
<!-- estop -->
<node pkg="estop_ros" exec="cmd_vel_override_node" output="screen">
<param name="port" value="/dev/sensors/estop"/>
<param name="baudrate" value="115200"/>
<param name="time_out" value="500"/>
<param name="serial_interval" value="0.01"/>
<remap from="/estop/state" to="/estop"/>
</node>
<!-- ground_segmentation >
<include file="$(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 Down
4 changes: 2 additions & 2 deletions orange_bringup/orange_bringup/ekf_myself.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,9 @@ def __init__(self):
self.sub_b = self.create_subscription(
Odometry, '/odom_CLAS_movingbase', self.sensor_b_callback, 10)

self.declare_parameter("publish_TF", False)
self.declare_parameter("ekf_publish_TF", False)
self.ekf_publish_TF = self.get_parameter(
"publish_TF").get_parameter_value().bool_value
"ekf_publish_TF").get_parameter_value().bool_value

self.t = TransformStamped()
self.br = tf2_ros.TransformBroadcaster(self)
Expand Down
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