fixed some bugs with rviz

SherbyRobotics · Nov 22, 2024 · 1627a7d · 1627a7d
1 parent c09f872
commit 1627a7d
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Showing 5 changed files with 432 additions and 21 deletions.
diff --git a/racecar_bringup/launch/bringup.launch.py b/racecar_bringup/launch/bringup.launch.py
@@ -20,6 +20,16 @@ def generate_launch_description():
 
     return LaunchDescription([
 
+
+        # Robot state publisher
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='both',
+            parameters=[robot_description],
+        ),
+
         TimerAction(
             period=5.0,
             actions=[
@@ -49,7 +59,7 @@ def generate_launch_description():
             parameters=[{
                 'serial_port': '/dev/ttyUSB0',
                 'serial_baudrate': 115200,
-                'frame_id': 'laser',
+                'frame_id': 'racecar/base_laser',
                 'inverted': False,
                 'angle_compensate': True,
             }],
@@ -60,6 +70,10 @@ def generate_launch_description():
             package='v4l2_camera',
             executable='v4l2_camera_node',
             name='camera',
+            parameters=[{
+            	'frame_id' : 'racecar/camera_optical_link',
+            	'saturation' : 100,
+            }],
             remappings=[('image_raw', 'racecar/camera'),
                         ('camera_info', 'racecar/camera_info')],
         ),

diff --git a/racecar_bringup/launch/include/robot_localization.launch.py b/racecar_bringup/launch/include/robot_localization.launch.py
@@ -21,11 +21,11 @@ def generate_launch_description():
         ),
 
 
-        Node(
-            package='robot_localization',
-            executable='ekf_node',
-            name='ekf_filter_node',
-            output='screen',
-            parameters=[os.path.join(get_package_share_directory("racecar_bringup"), 'launch', 'include', 'racecar_ekf_params.yaml')],
-           ),
+        # Node(
+        #     package='robot_localization',
+        #     executable='ekf_node',
+        #     name='ekf_filter_node',
+        #     output='screen',
+        #     parameters=[os.path.join(get_package_share_directory("racecar_bringup"), 'launch', 'include', 'racecar_ekf_params.yaml')],
+        #    ),
     ])
diff --git a/racecar_navigation/launch/slam.launch.py b/racecar_navigation/launch/slam.launch.py
@@ -48,7 +48,7 @@ def launch_setup(context, *args, **kwargs):
             {'Mem/IncrementalMemory': 'false' if localization == 'true' else 'true'},
         ],
         remappings=[
-            ('/scan', f'/{prefix}/scan'),
+            ('scan', f'{prefix}/scan'),
             ('grid_map', 'map'),
             ('move_base', 'move_base')
         ]