diff --git a/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_sequential_launch.py b/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_sequential_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..cbeabe9b2c31b3e4aea5a47b7ca10cdf9147ad8a
--- /dev/null
+++ b/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_sequential_launch.py
@@ -0,0 +1,39 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+ package_name = 'simple_robot_3dof'
+
+ rviz_config_file = os.path.join(
+ get_package_share_directory(package_name),
+ 'rviz',
+ 'forward_kinematics_simulations.rviz'
+ )
+
+ return LaunchDescription([
+ Node(
+ package = package_name,
+ executable = 'forward_kinematics_node_3dof_2',
+ name = 'forward_kinematics_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package = package_name,
+ executable = 'reference_node_3dof',
+ name = 'reference_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ output='screen',
+ arguments=['-d', rviz_config_file]
+ )
+ ])
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_simultaneous_launch.py b/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_simultaneous_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..cf5ddc7116db7fccf7442e6b636826b830ffea02
--- /dev/null
+++ b/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_simultaneous_launch.py
@@ -0,0 +1,39 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+ package_name = 'simple_robot_3dof'
+
+ rviz_config_file = os.path.join(
+ get_package_share_directory(package_name),
+ 'rviz',
+ 'forward_kinematics_simulations.rviz'
+ )
+
+ return LaunchDescription([
+ Node(
+ package = package_name,
+ executable = 'forward_kinematics_node_3dof_1',
+ name = 'forward_kinematics_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package = package_name,
+ executable = 'reference_node_3dof',
+ name = 'reference_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ output='screen',
+ arguments=['-d', rviz_config_file]
+ )
+ ])
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_wheelchair_launch.py b/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_wheelchair_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..a871350e8d276fb0acd4c7b8c3f06a8a779c9fbc
--- /dev/null
+++ b/ros2_ws/src/simple_robot_3dof/launch/forward_kinematics_3dof_wheelchair_launch.py
@@ -0,0 +1,39 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+ package_name = 'simple_robot_3dof'
+
+ rviz_config_file = os.path.join(
+ get_package_share_directory(package_name),
+ 'rviz',
+ 'forward_kinematics_simulations.rviz'
+ )
+
+ return LaunchDescription([
+ Node(
+ package = package_name,
+ executable = 'forward_kinematics_node_3dof_3',
+ name = 'forward_kinematics_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package = package_name,
+ executable = 'reference_node_3dof',
+ name = 'reference_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ output='screen',
+ arguments=['-d', rviz_config_file]
+ )
+ ])
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_3dof/rviz/forward_kinematics_simulations.rviz b/ros2_ws/src/simple_robot_3dof/rviz/forward_kinematics_simulations.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..afc67bf036d721c108218a5270687293194fe0b8
--- /dev/null
+++ b/ros2_ws/src/simple_robot_3dof/rviz/forward_kinematics_simulations.rviz
@@ -0,0 +1,177 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /Path1
+ - /Marker1
+ - /Marker1/Topic1
+ Splitter Ratio: 0.5
+ Tree Height: 696
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+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
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz_default_plugins/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Path
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /simple_robot/visualization_path
+ Value: true
+ - Class: rviz_default_plugins/Marker
+ Enabled: true
+ Name: Marker
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /simple_robot/visualization_marker
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - 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:
+ 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_default_plugins/Orbit
+ Distance: 4.086756229400635
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.9647961854934692
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 4.703580856323242
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 987
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000015600000341fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000341000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000341000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007740000003efc0100000002fb0000000800540069006d00650100000000000007740000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000005030000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1908
+ X: -161
+ Y: 12
diff --git a/ros2_ws/src/simple_robot_3dof/rviz/forward_kinematics_simulations.rviz:Zone.Identifier b/ros2_ws/src/simple_robot_3dof/rviz/forward_kinematics_simulations.rviz:Zone.Identifier
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2_ws/src/simple_robot_3dof/setup.py b/ros2_ws/src/simple_robot_3dof/setup.py
index 6773fc8cf475c5837b8e66a1bb3a7136f1115491..e0c5c2c243fae181ec0c8ea20a804df8043a7c7c 100644
--- a/ros2_ws/src/simple_robot_3dof/setup.py
+++ b/ros2_ws/src/simple_robot_3dof/setup.py
@@ -10,6 +10,10 @@ setup(
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
+ ('share/' + package_name + '/launch', ['launch/forward_kinematics_3dof_simultaneous_launch.py']),
+ ('share/' + package_name + '/launch', ['launch/forward_kinematics_3dof_sequential_launch.py']),
+ ('share/' + package_name + '/launch', ['launch/forward_kinematics_3dof_wheelchair_launch.py']),
+ ('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
],
install_requires=['setuptools'],
zip_safe=True,
@@ -20,10 +24,12 @@ setup(
tests_require=['pytest'],
entry_points={
'console_scripts': [
- 'publisher = simple_robot_3dof.reference_node_3dof:main',
- 'subscriber1 = simple_robot_3dof.forward_kinematics_node_3dof_1:main',
- 'subscriber2 = simple_robot_3dof.forward_kinematics_node_3dof_2:main',
- 'subscriber3 = simple_robot_3dof.forward_kinematics_node_3dof_3:main',
+ #'publisher = simple_robot_1dof.reference_node_1dof:main',
+ #'subscriber = simple_robot_1dof.forward_kinematics_node_1dof:main',
+ 'forward_kinematics_node_3dof_1 = simple_robot_3dof.forward_kinematics_node_3dof_1:main',
+ 'forward_kinematics_node_3dof_2 = simple_robot_3dof.forward_kinematics_node_3dof_2:main',
+ 'forward_kinematics_node_3dof_3 = simple_robot_3dof.forward_kinematics_node_3dof_3:main',
+ 'reference_node_3dof = simple_robot_3dof.reference_node_3dof:main',
],
},
)