added namespaces

lbr-stack · Oct 3, 2023 · 7defdfa · 7defdfa
1 parent b83acbb
commit 7defdfa
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Showing 2 changed files with 34 additions and 30 deletions.
diff --git a/lbr_bringup/config/config.rviz b/lbr_bringup/config/config.rviz
@@ -9,7 +9,7 @@ Panels:
         - /RobotModel1
         - /RobotModel1/Description Topic1
       Splitter Ratio: 0.5
-    Tree Height: 549
+    Tree Height: 712
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -59,7 +59,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /robot_description
+        Value: /lbr/robot_description
       Enabled: true
       Links:
         All Links Enabled: true
@@ -119,14 +119,14 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: ""
+      TF Prefix: lbr
       Update Interval: 0
       Value: true
       Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 21; 21; 26
-    Fixed Frame: world
+    Fixed Frame: lbr/world
     Frame Rate: 30
   Name: root
   Tools:
@@ -169,33 +169,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 3.063441276550293
+      Distance: 3.38482666015625
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.2026004195213318
-        Y: -0.19916969537734985
-        Z: 0.42787155508995056
-      Focal Shape Fixed Size: true
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6053980588912964
+      Pitch: 0.7853981852531433
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.6253981590270996
+      Yaw: 0.7853981852531433
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015b00000356fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000356000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000356fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000356000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002ed00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c40000035600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -204,6 +204,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1200
-  X: 60
-  Y: 60
+  Width: 1850
+  X: 70
+  Y: 27
diff --git a/lbr_description/lbr_description/launch_mixin.py b/lbr_description/lbr_description/launch_mixin.py
@@ -97,44 +97,44 @@ def param_robot_description(
         return robot_description
 
     @staticmethod
-    def arg_model() -> DeclareLaunchArgument:
+    def arg_model(default_value: str = "iiwa7") -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="model",
-            default_value="iiwa7",
+            default_value=default_value,
             description="The LBR model in use.",
             choices=["iiwa7", "iiwa14", "med7", "med14"],
         )
 
     @staticmethod
-    def arg_base_frame() -> DeclareLaunchArgument:
+    def arg_base_frame(default_value: str = "world") -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="base_frame",
-            default_value="world",
+            default_value=default_value,
             description="The robot's base frame.",
         )
 
     @staticmethod
-    def arg_robot_name() -> DeclareLaunchArgument:
+    def arg_robot_name(default_value: str = "lbr") -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="robot_name",
-            default_value="lbr",
+            default_value=default_value,
             description="The robot's name.",
         )
 
     @staticmethod
-    def arg_port_id() -> DeclareLaunchArgument:
+    def arg_port_id(default_value: str = "30200") -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="port_id",
-            default_value="30200",
+            default_value=default_value,
             description="Port ID of the FRI communication. Valid in range [30200, 30209].\n"
             "\tUsefull in multi-robot setups.",
         )
 
     @staticmethod
-    def arg_sim() -> DeclareLaunchArgument:
+    def arg_sim(default_value: str = "true") -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="sim",
-            default_value="true",
+            default_value=default_value,
             description="Whether to use the simulation or not.",
         )
 
@@ -157,18 +157,22 @@ def param_sim() -> Dict[str, LaunchConfiguration]:
 
 class RVizMixin:
     @staticmethod
-    def arg_rviz_config_pkg() -> DeclareLaunchArgument:
+    def arg_rviz_config_pkg(
+        default_value: str = "lbr_description",
+    ) -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="rviz_config_pkg",
-            default_value="lbr_description",
+            default_value=default_value,
             description="The RViz configuration file.",
         )
 
     @staticmethod
-    def arg_rviz_config() -> DeclareLaunchArgument:
+    def arg_rviz_config(
+        default_value: str = "config/config.rviz",
+    ) -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
             name="rviz_config",
-            default_value="config/config.rviz",
+            default_value=default_value,
             description="The RViz configuration file.",
         )