From c392a6090fa0e07e8dca71a8b7dff0a73f0924a6 Mon Sep 17 00:00:00 2001
From: uquzq <ventsi@DESKTOP-J41TDPJ>
Date: Thu, 4 Jul 2024 15:22:18 +0200
Subject: [PATCH] Add launch file for the 1dof simulation
---
.../launch/forward_kinematics_1dof_launch.py | 39 ++++++++++++++++
.../rviz/forward_kinematics_simulations.rviz} | 44 +++++++++----------
ros2_ws/src/simple_robot_1dof/setup.py | 8 +++-
3 files changed, 67 insertions(+), 24 deletions(-)
create mode 100644 ros2_ws/src/simple_robot_1dof/launch/forward_kinematics_1dof_launch.py
rename ros2_ws/src/{to.rviz => simple_robot_1dof/rviz/forward_kinematics_simulations.rviz} (96%)
diff --git a/ros2_ws/src/simple_robot_1dof/launch/forward_kinematics_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/forward_kinematics_1dof_launch.py
new file mode 100644
index 0000000..fc9a782
--- /dev/null
+++ b/ros2_ws/src/simple_robot_1dof/launch/forward_kinematics_1dof_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_1dof'
+
+ 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_1dof',
+ name = 'forward_kinematics_node',
+ output = 'screen',
+ parameters = []
+ ),
+ Node(
+ package = package_name,
+ executable = 'reference_node_1dof',
+ 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/to.rviz b/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
similarity index 96%
rename from ros2_ws/src/to.rviz
rename to ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
index 7614e63..27a4368 100644
--- a/ros2_ws/src/to.rviz
+++ b/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
@@ -6,9 +6,9 @@ Panels:
Expanded:
- /Global Options1
- /Status1
+ - /Path1
- /Marker1
- /Marker1/Topic1
- - /Path1
Splitter Ratio: 0.5
Tree Height: 696
- Class: rviz_common/Selection
@@ -50,19 +50,6 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- - Class: rviz_default_plugins/Marker
- Enabled: true
- Name: Marker
- Namespaces:
- "": true
- Topic:
- Depth: 5
- Durability Policy: Volatile
- Filter size: 10
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /simple_robot/visualization_marker
- Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
@@ -91,6 +78,19 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /simple_robot/visualization_path
Value: true
+ - Class: rviz_default_plugins/Marker
+ Enabled: true
+ Name: Marker
+ Namespaces:
+ "": true
+ 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
@@ -137,25 +137,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
- Distance: 6.6957197189331055
+ Distance: 4.086756229400635
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: -0.861002504825592
- Y: 0.12668320536613464
- Z: 0.19602636992931366
+ 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: 1.2197964191436768
+ Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 4.693583011627197
+ Yaw: 4.688580513000488
Saved: ~
Window Geometry:
Displays:
@@ -173,5 +173,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1908
- X: -75
- Y: -25
+ X: 0
+ Y: 0
diff --git a/ros2_ws/src/simple_robot_1dof/setup.py b/ros2_ws/src/simple_robot_1dof/setup.py
index 9eef448..6a1eb2f 100644
--- a/ros2_ws/src/simple_robot_1dof/setup.py
+++ b/ros2_ws/src/simple_robot_1dof/setup.py
@@ -10,6 +10,8 @@ setup(
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
+ ('share/' + package_name + '/launch', ['launch/forward_kinematics_1dof_launch.py']),
+ ('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
],
install_requires=['setuptools'],
zip_safe=True,
@@ -20,8 +22,10 @@ setup(
tests_require=['pytest'],
entry_points={
'console_scripts': [
- 'publisher = simple_robot_1dof.reference_node_1dof:main',
- 'subscriber = simple_robot_1dof.forward_kinematics_node_1dof:main',
+ #'publisher = simple_robot_1dof.reference_node_1dof:main',
+ #'subscriber = simple_robot_1dof.forward_kinematics_node_1dof:main',
+ 'forward_kinematics_node_1dof = simple_robot_1dof.forward_kinematics_node_1dof:main',
+ 'reference_node_1dof = simple_robot_1dof.reference_node_1dof:main',
],
},
)
--
GitLab