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Remove tf prefix #252

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Remove tf prefix #252

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4e6d3e7
Remove tf_prefix parameter from the simulation.
darrenchurchill Mar 10, 2019
5487318
Remove tf_prefix parameter from the physical rover.
darrenchurchill Mar 10, 2019
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13 changes: 8 additions & 5 deletions launch/swarmie.launch
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Original file line number Diff line number Diff line change
@@ -1,7 +1,5 @@
<launch>

<param name="tf_prefix" value="$(arg name)" />

<node name="$(arg name)_BASE2CAM" pkg="tf" type="static_transform_publisher" args="0.12 -0.03 0.195 -1.57 0 -2.22 $(arg name)/base_link $(arg name)/camera_link 100" />
<node name="$(arg name)_DIAGNOSTICS" pkg="diagnostics" type="diagnostics" args="$(arg name)" />
<node name="$(arg name)_SBRIDGE" pkg="sbridge" type="sbridge" args="$(arg name)" />
Expand All @@ -11,7 +9,7 @@

<param name="magnetic_declination_radians" value="0.0"/>
<param name="yaw_offset" value="1.57079632679"/>
<param name="world_frame" value="map"/>
<param name="world_frame" value="$(arg name)/map"/>
<param name="frequency" value="10"/>

<remap from="/imu/data" to="/$(arg name)/imu" />
Expand All @@ -27,7 +25,9 @@
<param name="odom0" value="/$(arg name)/odom" />
<param name="imu0" value="/$(arg name)/imu" />
<param name="two_d_mode" value="true" />
<param name="world_frame" value="odom" />
<param name="world_frame" value="$(arg name)/odom" />
<param name="odom_frame" value="$(arg name)/odom" />
<param name="base_link_frame" value="$(arg name)/base_link" />
<param name="frequency" value="10" />

<rosparam param="odom0_config">[false, false, false,
Expand Down Expand Up @@ -79,7 +79,10 @@
<param name="odom1" value="/$(arg name)/odom/filtered" />
<param name="imu0" value="/$(arg name)/imu" />
<param name="two_d_mode" value="true" />
<param name="world_frame" value="map" />
<param name="world_frame" value="$(arg name)/map" />
<param name="map_frame" value="$(arg name)/map" />
<param name="odom_frame" value="$(arg name)/odom" />
<param name="base_link_frame" value="$(arg name)/base_link" />
<param name="frequency" value="10" />

<rosparam param="odom0_config">[true, true, false,
Expand Down
11 changes: 3 additions & 8 deletions misc/rover_onboard_node_launch.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -38,11 +38,6 @@ else
fi


#Set prefix to fully qualify transforms for each robot
echo "set prefix to fully qualify transforms for each robot: $HOSTNAME"
rosparam set tf_prefix $HOSTNAME


#Function to lookup correct path for a given device
echo "findDevicePath() for usb devices (arduino, camera, etc)"
findDevicePath() {
Expand Down Expand Up @@ -109,13 +104,13 @@ else
nohup > logs/$HOSTNAME"_ublox_log.txt" rosrun ublox_gps ublox_gps __name:=$HOSTNAME\_UBLOX /$HOSTNAME\_UBLOX/fix:=/$HOSTNAME/fix /$HOSTNAME\_UBLOX/fix_velocity:=/$HOSTNAME/fix_velocity /$HOSTNAME\_UBLOX/navposllh:=/$HOSTNAME/navposllh /$HOSTNAME\_UBLOX/navsol:=/$HOSTNAME/navsol /$HOSTNAME\_UBLOX/navstatus:=/$HOSTNAME/navstatus /$HOSTNAME\_UBLOX/navvelned:=/$HOSTNAME/navvelned _device:=/dev/$gpsDevicePath _frame_id:=$HOSTNAME/base_link &
fi

nohup > logs/$HOSTNAME"_localization_navsat_log.txt" rosrun robot_localization navsat_transform_node __name:=$HOSTNAME\_NAVSAT _world_frame:=map _frequency:=10 _magnetic_declination_radians:=0.1530654 _yaw_offset:=0 /imu/data:=/$HOSTNAME/imu /gps/fix:=/$HOSTNAME/fix /odometry/filtered:=/$HOSTNAME/odom/ekf /odometry/gps:=/$HOSTNAME/odom/navsat &
nohup > logs/$HOSTNAME"_localization_navsat_log.txt" rosrun robot_localization navsat_transform_node __name:=$HOSTNAME\_NAVSAT _world_frame:=$HOSTNAME/map _frequency:=10 _magnetic_declination_radians:=0.1530654 _yaw_offset:=0 /imu/data:=/$HOSTNAME/imu /gps/fix:=/$HOSTNAME/fix /odometry/filtered:=/$HOSTNAME/odom/ekf /odometry/gps:=/$HOSTNAME/odom/navsat &

rosparam set /$HOSTNAME\_ODOM/odom0 /$HOSTNAME/odom
rosparam set /$HOSTNAME\_ODOM/imu0 /$HOSTNAME/imu
rosparam set /$HOSTNAME\_ODOM/odom0_config [false,false,false,false,false,false,true,false,false,false,false,true,false,false,false]
rosparam set /$HOSTNAME\_ODOM/imu0_config [false,false,false,false,false,true,false,false,false,false,false,true,true,false,false]
nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=odom _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &
nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=$HOSTNAME/odom _odom_frame:=$HOSTNAME/odom _base_link_frame:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &

rosparam set /$HOSTNAME\_MAP/odom0 /$HOSTNAME/odom/navsat
rosparam set /$HOSTNAME\_MAP/odom1 /$HOSTNAME/odom/filtered
Expand Down Expand Up @@ -157,7 +152,7 @@ rosparam set $HOSTNAME\_MAP/process_noise_covariance "[0.005, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, /
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1]"

nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=map _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &
nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=$HOSTNAME/map _map_frame:=$HOSTNAME/map _odom_frame:=$HOSTNAME/odom _base_link_frame:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &

throttle()
{
Expand Down