switched thrusters to bidirectional on ros gz bridge

uf-mil · Feb 11, 2025 · 4ab889c · 4ab889c
1 parent d3bfbcb
commit 4ab889c
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Showing 2 changed files with 146 additions and 20 deletions.
diff --git a/src/subjugator/simulation/subjugator_bringup/config/subjugator.rviz b/src/subjugator/simulation/subjugator_bringup/config/subjugator.rviz
@@ -5,8 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /RobotModel1
         - /RobotModel1/Description Topic1
-        - /TF1
+        - /Image1
         - /TF1/Frames1
       Splitter Ratio: 0.5
     Tree Height: 957
@@ -54,20 +55,105 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /robot_description
-      Enabled: false
+      Enabled: true
       Links:
         All Links Enabled: true
+        BLH_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BLH_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BLV_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BLV_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BRH_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BRH_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BRV_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BRV_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
+        FLH_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FLH_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FLV_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FLV_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FRH_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FRH_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FRV_dir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        FRV_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        down_cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        dvl_sensor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
       Mass Properties:
         Inertia: false
         Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
-      Value: false
+      Value: true
       Visual Enabled: true
     - Class: rviz_default_plugins/Image
       Enabled: true
@@ -81,7 +167,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /camera/front/left/image_raw/simulated_image
+        Value: /front_cam/image_raw
       Value: true
     - Class: rviz_default_plugins/TF
       Enabled: true
@@ -90,10 +176,30 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
+        BLH_link:
+          Value: true
+        BLV_link:
+          Value: true
+        BRH_link:
+          Value: true
+        BRV_link:
+          Value: true
+        FLH_link:
+          Value: true
+        FLV_link:
+          Value: true
+        FRH_link:
+          Value: true
+        FRV_link:
+          Value: true
         base_link:
           Value: true
+        down_cam_link:
+          Value: true
         dvl_sensor_link:
           Value: true
+        front_cam_link:
+          Value: true
         imu_link:
           Value: true
       Marker Scale: 1
@@ -103,8 +209,28 @@ Visualization Manager:
       Show Names: false
       Tree:
         base_link:
+          BLH_link:
+            {}
+          BLV_link:
+            {}
+          BRH_link:
+            {}
+          BRV_link:
+            {}
+          FLH_link:
+            {}
+          FLV_link:
+            {}
+          FRH_link:
+            {}
+          FRV_link:
+            {}
+          down_cam_link:
+            {}
           dvl_sensor_link:
             {}
+          front_cam_link:
+            {}
           imu_link:
             {}
       Update Interval: 0
@@ -160,18 +286,18 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.17607025802135468
-        Y: 0.04805447533726692
-        Z: 0.062287211418151855
+        X: 0.30158719420433044
+        Y: -0.0858655571937561
+        Z: 0.09246137738227844
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.07520227134227753
+      Pitch: 0.07520227879285812
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.882225513458252
+      Yaw: 3.812224864959717
     Saved: ~
 Window Geometry:
   Displays:
@@ -181,13 +307,13 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000222000007b1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000043e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000319000000cb0000000000000000fb0000000a0049006d006100670065010000047f0000036d0000001600ffffff000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000ccc000007b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002b1000007b1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000043e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000319000000cb0000000000000000fb0000000a0049006d006100670065010000047f0000036d0000001600ffffff000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000c3d000007b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
   Width: 3828
-  X: 0
-  Y: 0
+  X: -32
+  Y: -32
diff --git a/src/subjugator/simulation/subjugator_bringup/config/subjugator_bridge.yaml b/src/subjugator/simulation/subjugator_bringup/config/subjugator_bridge.yaml
@@ -18,43 +18,43 @@
   gz_topic_name: "/model/FLH/joint/FLH_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 - ros_topic_name: "/thruster/FRH"
   gz_topic_name: "/model/FRH/joint/FRH_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 - ros_topic_name: "/thruster/BLH"
   gz_topic_name: "/model/BLH/joint/BLH_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 - ros_topic_name: "/thruster/BRH"
   gz_topic_name: "/model/BRH/joint/BRH_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 
 - ros_topic_name: "/thruster/FLV"
   gz_topic_name: "/model/FLV/joint/FLV_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 - ros_topic_name: "/thruster/FRV"
   gz_topic_name: "/model/FRV/joint/FRV_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 - ros_topic_name: "/thruster/BLV"
   gz_topic_name: "/model/BLV/joint/BLV_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 - ros_topic_name: "/thruster/BRV"
   gz_topic_name: "/model/BRV/joint/BRV_dir_joint/cmd_thrust"
   ros_type_name: "std_msgs/msg/Float64"
   gz_type_name: "gz.msgs.Double"
-  direction: GZ_TO_ROS
+  direction: BIDIRECTIONAL
 
   # Camera configuration.
 - ros_topic_name: "/front_cam/image_raw"