Fix/topic name

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.
+~~~

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: <Fixed 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
@@ -534,18 +657,18 @@ 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:
     collapsed: false
   Height: 2096
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000020000000000000470000007d6fc0200000004fb000000100044006900730070006c006100790073010000003d00000275000000c900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000002b8000000c90000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000003870000048c000000a400ffffff00000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000a44000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000020000000000000470000007d6fc0200000006fb000000100044006900730070006c006100790073010000003d000005c1000000c900fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000604000000bb0000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000006c50000014e000000a400fffffffb0000000a0049006d006100670065010000047a000003990000000000000000fb0000000c00430061006d0065007200610100000422000003f1000000000000000000000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000a44000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Tool Properties:
     collapsed: false
   Views:

launch/vrx_bringup.launch.xml

@@ -22,5 +22,6 @@
   </include> -->
 
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share vrx_bridge)/config/vrx.rviz">
+    <param name="use_sim_time" value="true"/>
   </node>
 </launch>

package.xml

@@ -16,7 +16,8 @@
   <depend>geometry_msgs</depend>
   <depend>launch</depend>
 
-  <test_depend>ouxt_lint_auto</test_depend>
+  <test_depend>ouxt_lint_common</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

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<geographic_msgs::msg::GeoPoseStamped>("/localization/geopose", 1);
+  gps_pub_ =
+    this->create_publisher<geographic_msgs::msg::GeoPoseStamped>("/localization/geopose", 1);
   imu_pub_ = this->create_publisher<sensor_msgs::msg::Imu>("/imu", 1);
   goal_pub_ = this->create_publisher<geometry_msgs::msg::PoseStamped>("/move_base_simple/goal", 1);
 }