From 7defdfa3db526c5171bcc4fdee3526d73a71f0e3 Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 3 Oct 2023 12:07:03 +0100 Subject: [PATCH] added namespaces --- lbr_bringup/config/config.rviz | 32 +++++++++---------- .../lbr_description/launch_mixin.py | 32 +++++++++++-------- 2 files changed, 34 insertions(+), 30 deletions(-) diff --git a/lbr_bringup/config/config.rviz b/lbr_bringup/config/config.rviz index 611498f4..e64d9f7c 100644 --- 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: 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 index 362cc2c0..e1bc2cf1 100644 --- 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.", )