Revert "costmap setup"

uwrobotics · Jan 26, 2024 · 38548fa · 38548fa
1 parent 1a3d359
commit 38548fa
Show file tree

Hide file tree

Showing 8 changed files with 61 additions and 320 deletions.
diff --git a/...rs_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml b/...rs_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml
diff --git a/...ars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml b/...ars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml
@@ -23,54 +23,54 @@ depth_camera:
         near: 0.05
         far: 3
 
-  # camera2:
-  #   dim:
-  #     length: 0.05
-  #     width: 0.05
-  #     height: 0.05
-  #   parent_link: chassis
-  #   offset:
-  #     x: -0.61
-  #     y: 0
-  #     z: 0
+  camera2:
+    dim:
+      length: 0.05
+      width: 0.05
+      height: 0.05
+    parent_link: chassis
+    offset:
+      x: -0.61
+      y: 0
+      z: 0
 
-  #     r_rot: 0
-  #     p_rot: 0
-  #     y_rot: 3.14159265359
-  #   camera_properties:
-  #     horizontal_fov: 1.047198
-  #     image:
-  #       width: 640
-  #       height: 480
-  #       format: R8G8B8
-  #     clip:
-  #       near: 0.05
-  #       far: 3
+      r_rot: 0
+      p_rot: 0
+      y_rot: 3.14159265359
+    camera_properties:
+      horizontal_fov: 1.047198
+      image:
+        width: 640
+        height: 480
+        format: R8G8B8
+      clip:
+        near: 0.05
+        far: 3
 
-# lidar:
-#   lidar1:
-#     dim:
-#       length: 0.05
-#       width: 0.05
-#       height: 0.05
-#     parent_link: chassis
-#     offset:
-#       x: 0.61
-#       y: 0
-#       z: 0.15
+lidar:
+  lidar1:
+    dim:
+      length: 0.05
+      width: 0.05
+      height: 0.05
+    parent_link: chassis
+    offset:
+      x: 0.61
+      y: 0
+      z: 0.1
 
-#       r_rot: 0
-#       p_rot: 0
-#       y_rot: 0
+      r_rot: 0
+      p_rot: 0
+      y_rot: 0
 
-#     lidar_properties:
-#       update_rate: 5
-#       scan:
-#         samples: 360
-#         resolution: 1.000000
-#         min_angle: 0.000000
-#         max_angle: 6.280000
-#       range:
-#         min: 0.120000
-#         max: 3.5
-#         resolution: 0.015000
+    lidar_properties:
+      update_rate: 5
+      scan:
+        samples: 360
+        resolution: 1.000000
+        min_angle: 0.000000
+        max_angle: 6.280000
+      range:
+        min: 0.120000
+        max: 3.5
+        resolution: 0.015000
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py
@@ -83,7 +83,7 @@ def generate_launch_description():
         package='rviz2',
         executable='rviz2',
         name='rviz2',
-        output='screen',
+        output='',
         arguments=['-d', str(rviz_config_path)],
     )
     nodes += [RegisterEventHandler(
@@ -114,4 +114,4 @@ def generate_launch_description():
     # Run the node
     return LaunchDescription(
         nodes
-    )
+    )
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro
@@ -63,10 +63,10 @@
   <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera1']}" name="camera1"/>
   <xacro:default_depth_camera_frame camera_link_name="camera1" camera_props="${sensors_parameters['depth_camera']['camera1']['camera_properties']}"/>
 
-  <!-- <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera2']}" name="camera2"/>
-  <xacro:default_depth_camera_frame camera_link_name="camera2" camera_props="${sensors_parameters['depth_camera']['camera2']['camera_properties']}"/> -->
+  <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera2']}" name="camera2"/>
+  <xacro:default_depth_camera_frame camera_link_name="camera2" camera_props="${sensors_parameters['depth_camera']['camera2']['camera_properties']}"/>
 
-  <!-- <xacro:generate_sensor_frame sensor_params="${sensors_parameters['lidar']['lidar1']}"         name="lidar1"/>
-  <xacro:default_lidar_frame lidar_link_name="lidar1" lidar_props="${sensors_parameters['lidar']['lidar1']['lidar_properties']}"/> -->
+  <xacro:generate_sensor_frame sensor_params="${sensors_parameters['lidar']['lidar1']}"         name="lidar1"/>
+  <xacro:default_lidar_frame lidar_link_name="lidar1" lidar_props="${sensors_parameters['lidar']['lidar1']['lidar_properties']}"/>
 
 </robot>