From 70f0e0503ff47745c691189ddc82bcf23c04e666 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 8 Apr 2024 02:09:11 +0900 Subject: [PATCH 1/4] add use_sim_time option Signed-off-by: Masaya Kataoka --- launch/vrx_bringup.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml index 219368e..ca4e87a 100644 --- a/launch/vrx_bringup.launch.xml +++ b/launch/vrx_bringup.launch.xml @@ -22,5 +22,6 @@ --> + From 00ec131fb6968e9b9e5c0f40a48f528720784e82 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Sun, 14 Apr 2024 20:10:48 +0900 Subject: [PATCH 2/4] update depends Signed-off-by: Masaya Kataoka --- config/vrx.rviz | 163 ++++++++++++++++++++++++++++++++++++++++++------ package.xml | 3 +- 2 files changed, 145 insertions(+), 21 deletions(-) diff --git a/config/vrx.rviz b/config/vrx.rviz index fcd6051..bd577e9 100644 --- a/config/vrx.rviz +++ b/config/vrx.rviz @@ -10,13 +10,11 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /RobotModel1 - - /RobotModel1/Status1 + - /TF1/Frames1 - /Sensing1/lidar1 - - /Perception1 - /Perception1/GridMap1 Splitter Ratio: 0.5 - Tree Height: 568 + Tree Height: 1412 - Class: rviz_common/Tool Properties Expanded: ~ Name: Tool Properties @@ -48,19 +46,144 @@ Visualization Manager: Reference Frame: Value: true - Class: rviz_default_plugins/TF - Enabled: false + Enabled: true Frame Timeout: 15 Frames: - All Enabled: true + All Enabled: false + map: + Value: true + wamv/wamv/ball_shooter_base_link: + Value: false + wamv/wamv/ball_shooter_camera_link: + Value: false + wamv/wamv/ball_shooter_camera_link_optical: + Value: false + wamv/wamv/ball_shooter_camera_post_arm_link: + Value: false + wamv/wamv/ball_shooter_camera_post_link: + Value: false + wamv/wamv/ball_shooter_launcher_link: + Value: false + wamv/wamv/base_link: + Value: true + wamv/wamv/base_link/ball_shooter_camera_sensor: + Value: false + wamv/wamv/base_link/contact_sensor: + Value: false + wamv/wamv/base_link/front_left_camera_sensor: + Value: false + wamv/wamv/base_link/front_right_camera_sensor: + Value: false + wamv/wamv/base_link/lidar_wamv_sensor: + Value: false + wamv/wamv/cpu_cases_link: + Value: false + wamv/wamv/front_left_camera_link: + Value: false + wamv/wamv/front_left_camera_link_optical: + Value: false + wamv/wamv/front_left_camera_post_arm_link: + Value: false + wamv/wamv/front_left_camera_post_link: + Value: false + wamv/wamv/front_right_camera_link: + Value: false + wamv/wamv/front_right_camera_link_optical: + Value: false + wamv/wamv/front_right_camera_post_arm_link: + Value: false + wamv/wamv/front_right_camera_post_link: + Value: false + wamv/wamv/gps_wamv_link: + Value: false + wamv/wamv/gps_wamv_link/navsat: + Value: false + wamv/wamv/imu_wamv_link: + Value: false + wamv/wamv/imu_wamv_link/imu_wamv_sensor: + Value: false + wamv/wamv/left_battery_link: + Value: false + wamv/wamv/left_engine_link: + Value: false + wamv/wamv/left_propeller_link: + Value: false + wamv/wamv/lidar_wamv_link: + Value: false + wamv/wamv/lidar_wamv_post_arm_link: + Value: false + wamv/wamv/lidar_wamv_post_link: + Value: false + wamv/wamv/reciever: + Value: false + wamv/wamv/right_battery_link: + Value: false + wamv/wamv/right_engine_link: + Value: false + wamv/wamv/right_propeller_link: + Value: false Marker Scale: 5 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: - {} + map: + wamv/wamv/base_link: + wamv/wamv/ball_shooter_base_link: + wamv/wamv/ball_shooter_launcher_link: + {} + wamv/wamv/ball_shooter_camera_post_link: + wamv/wamv/ball_shooter_camera_post_arm_link: + wamv/wamv/ball_shooter_camera_link: + wamv/wamv/ball_shooter_camera_link_optical: + {} + wamv/wamv/base_link/ball_shooter_camera_sensor: + {} + wamv/wamv/base_link/contact_sensor: + {} + wamv/wamv/base_link/front_left_camera_sensor: + {} + wamv/wamv/base_link/front_right_camera_sensor: + {} + wamv/wamv/base_link/lidar_wamv_sensor: + {} + wamv/wamv/cpu_cases_link: + {} + wamv/wamv/front_left_camera_post_link: + wamv/wamv/front_left_camera_post_arm_link: + wamv/wamv/front_left_camera_link: + wamv/wamv/front_left_camera_link_optical: + {} + wamv/wamv/front_right_camera_post_link: + wamv/wamv/front_right_camera_post_arm_link: + wamv/wamv/front_right_camera_link: + wamv/wamv/front_right_camera_link_optical: + {} + wamv/wamv/gps_wamv_link: + wamv/wamv/gps_wamv_link/navsat: + {} + wamv/wamv/imu_wamv_link: + wamv/wamv/imu_wamv_link/imu_wamv_sensor: + {} + wamv/wamv/left_battery_link: + {} + wamv/wamv/left_engine_link: + wamv/wamv/left_propeller_link: + {} + wamv/wamv/lidar_wamv_post_link: + wamv/wamv/lidar_wamv_post_arm_link: + wamv/wamv/lidar_wamv_link: + {} + wamv/wamv/reciever: + {} + wamv/wamv/right_battery_link: + {} + wamv/wamv/right_engine_link: + wamv/wamv/right_propeller_link: + {} Update Interval: 0 - Value: false + Value: true - Alpha: 1 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -228,19 +351,19 @@ Visualization Manager: - Alpha: 0.800000011920929 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 113.64582824707031 - Min Value: -107.36042785644531 + Max Value: 26.479372024536133 + Min Value: 0.19844436645507812 Value: true Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 138; 226; 52 - Color Transformer: AxisColor + Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0 + Max Intensity: 1000.0152587890625 Min Color: 0; 0; 0 Min Intensity: 0 Name: lidar @@ -298,17 +421,17 @@ Visualization Manager: Use rainbow: true Value: true - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Obstacle Namespaces: - polygon: true + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /perception/scan_segmentation_node/marker - Value: true + Value: false - Alpha: 0.30000001192092896 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap @@ -476,7 +599,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: map + Fixed Frame: wamv/wamv/base_link Frame Rate: 30 Name: root Tools: @@ -519,7 +642,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/ThirdPersonFollower - Distance: 10 + Distance: 38.95975875854492 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -534,10 +657,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7853981852531433 + Pitch: 0.7803981900215149 Target Frame: wamv/wamv/base_link Value: ThirdPersonFollower (rviz_default_plugins) - Yaw: 0.7853981852531433 + Yaw: 2.5154004096984863 Saved: ~ Window Geometry: Displays: @@ -545,7 +668,7 @@ Window Geometry: Height: 2096 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd000000020000000000000470000007d6fc0200000004fb000000100044006900730070006c006100790073010000003d00000275000000c900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000002b8000000c90000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000003870000048c000000a400ffffff00000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000a44000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000020000000000000470000007d6fc0200000006fb000000100044006900730070006c006100790073010000003d000005c1000000c900fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000604000000bb0000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000006c50000014e000000a400fffffffb0000000a0049006d006100670065010000047a000003990000000000000000fb0000000c00430061006d0065007200610100000422000003f1000000000000000000000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000a44000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Tool Properties: collapsed: false Views: diff --git a/package.xml b/package.xml index 3641e48..3330671 100644 --- a/package.xml +++ b/package.xml @@ -16,7 +16,8 @@ geometry_msgs launch - ouxt_lint_auto + ouxt_lint_common + ament_lint_auto ament_cmake From 7f86ce739e06d8fd4dc23d440d0dc60134ef42e4 Mon Sep 17 00:00:00 2001 From: hakuturu583 Date: Tue, 16 Apr 2024 21:00:13 +0900 Subject: [PATCH 3/4] apply reformat Signed-off-by: hakuturu583 --- src/vrx_bridge_component.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/vrx_bridge_component.cpp b/src/vrx_bridge_component.cpp index 6826445..c6fad22 100644 --- a/src/vrx_bridge_component.cpp +++ b/src/vrx_bridge_component.cpp @@ -31,7 +31,8 @@ VRXBridgeComponent::VRXBridgeComponent(const rclcpp::NodeOptions & options) "/vrx/stationkeeping/goal", 1, std::bind(&VRXBridgeComponent::Goaltopic_callback, this, std::placeholders::_1)); - gps_pub_ = this->create_publisher("/localization/geopose", 1); + gps_pub_ = + this->create_publisher("/localization/geopose", 1); imu_pub_ = this->create_publisher("/imu", 1); goal_pub_ = this->create_publisher("/move_base_simple/goal", 1); } From ece938623063b613ef0c64f8ad4d91b0c9469db8 Mon Sep 17 00:00:00 2001 From: hakuturu583 Date: Tue, 16 Apr 2024 21:03:50 +0900 Subject: [PATCH 4/4] add CONTRIBUTING.md Signed-off-by: hakuturu583 --- CONTRIBUTING.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 CONTRIBUTING.md diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..9e2ed06 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,13 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. +~~~ \ No newline at end of file