AMRFM-1218-fork-lift-speed (ros-navigation#192)

* make tf frames bigger * disable gazebo cameras viz by default * use Jointtrajectorycontroller * removing Image because it is always on by default
logivations · Nov 26, 2021 · bac2737 · bac2737
1 parent 29d8e9a
commit bac2737
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Showing 5 changed files with 11 additions and 26 deletions.
diff --git a/amr_bringup/config/rviz/full_system.rviz b/amr_bringup/config/rviz/full_system.rviz
@@ -38,7 +38,7 @@ Visualization Manager:
     - Class: rviz_default_plugins/TF
       Enabled: false
       Name: TF
-      Marker Scale: 0.3
+      Marker Scale: 1
       Show Arrows: true
       Show Axes: true
       Show Names: true
@@ -271,27 +271,13 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: <robot_namespace>/realsense_left/depth/color/points
-      Use Fixed Frame: true
+      Use Fixed Frame: false
       Use rainbow: true
       Value: true
-    - Class: rviz_default_plugins/Image
-      Enabled: false
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Realsense Left Image
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: <robot_namespace>/realsense_left/color/image_raw
-      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: base_link
+    Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:

diff --git a/amr_description/urdf/amr_description.gazebo.xacro b/amr_description/urdf/amr_description.gazebo.xacro
@@ -179,7 +179,7 @@
         </camera>
         <always_on>1</always_on>
         <update_rate>30</update_rate>
-        <visualize>1</visualize>
+        <visualize>0</visualize>
       </sensor>
       <sensor name="${camera_left}ired1" type="camera">
         <camera name="camera">
@@ -295,7 +295,7 @@
         </camera>
         <always_on>1</always_on>
         <update_rate>30</update_rate>
-        <visualize>1</visualize>
+        <visualize>0</visualize>
       </sensor>
       <sensor name="${camera_right}ired1" type="camera">
         <camera name="camera">
@@ -411,7 +411,7 @@
         </camera>
         <always_on>1</always_on>
         <update_rate>30</update_rate>
-        <visualize>1</visualize>
+        <visualize>0</visualize>
       </sensor>
       <sensor name="${camera_front}ired1" type="camera">
         <camera name="camera">

diff --git a/amr_gazebo/config/agv2_controller.yaml b/amr_gazebo/config/agv2_controller.yaml
@@ -4,10 +4,10 @@ agv2:
       update_rate: 50 # Hz
 
       fork_controller:
-        type: position_controllers/JointGroupPositionController
+        type: joint_trajectory_controller/JointTrajectoryController # velocity_controllers/JointPositionController should be enough but not ported to ROS2 yet https://github.com/ros-controls/ros2_controllers/tree/foxy/velocity_controllers/src
 
       steering_controller:
-        type: position_controllers/JointGroupPositionController
+        type: position_controllers/JointGroupPositionController # position_controllers/JointPositionController should be enough but not ported to ROS2 yet https://github.com/ros-controls/ros2_controllers/tree/master/position_controllers/src
 
       wheel_speed_controller:
         type: velocity_controllers/JointGroupVelocityController
@@ -19,7 +19,6 @@ agv2:
     ros__parameters:
       joints:
         - forks_lift_joint
-      interface_name: position
       command_interfaces:
         - position
       state_interfaces:

diff --git a/amr_gazebo/config/agv3_controller.yaml b/amr_gazebo/config/agv3_controller.yaml
@@ -4,10 +4,10 @@ agv3:
       update_rate: 50 # Hz
 
       fork_controller:
-        type: position_controllers/JointGroupPositionController
+        type: joint_trajectory_controller/JointTrajectoryController # velocity_controllers/JointPositionController should be enough but not ported to ROS2 yet https://github.com/ros-controls/ros2_controllers/tree/foxy/velocity_controllers/src
 
       steering_controller:
-        type: position_controllers/JointGroupPositionController
+        type: position_controllers/JointGroupPositionController # position_controllers/JointPositionController should be enough but not ported to ROS2 yet https://github.com/ros-controls/ros2_controllers/tree/master/position_controllers/src
 
       wheel_speed_controller:
         type: velocity_controllers/JointGroupVelocityController
@@ -19,7 +19,6 @@ agv3:
     ros__parameters:
       joints:
         - forks_lift_joint
-      interface_name: position
       command_interfaces:
         - position
       state_interfaces:

diff --git a/amr_gazebo/package.xml b/amr_gazebo/package.xml
@@ -34,6 +34,7 @@
   <depend>joint_state_broadcaster</depend>
   <depend>velocity_controllers</depend>
   <depend>position_controllers</depend>
+  <depend>joint_trajectory_controller</depend>
 
   <build_depend>gazebo_dev</build_depend>
   <build_depend>gazebo_msgs</build_depend>