Add ROS1 generic launcher too

MRPT · Dec 23, 2024 · 3be233d · 3be233d
1 parent 4536dca
commit 3be233d
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Showing 5 changed files with 197 additions and 120 deletions.
diff --git a/docs/mvsim_node.rst b/docs/mvsim_node.rst
@@ -25,62 +25,55 @@ Basic usage from the command line
         .. code-block:: bash
 
             roslaunch mvsim launch_world.launch \
-              XX
+              world_file:=/path/to/your/my.world.xml \
+              headless:=True
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
             ros2 launch mvsim launch_world.launch.py \
-              world_file:=/path/to/your/my.world.xml
+              world_file:=/path/to/your/my.world.xml \
+              headless:=True
 
 |
 
 All launch parameters
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+All these parameters apply to both, ROS 1 and ROS 2 launch files above:
 
-.. tab-set::
-    .. tab-item:: ROS 1
-
-        .. code-block:: bash
-
-            xxx
-
-    .. tab-item:: ROS 2
-        :selected:
-
-        .. code-block:: bash
+.. code-block:: bash
 
-            $ ros2 launch mvsim launch_world.launch.py --show-args
-            Arguments (pass arguments as '<name>:=<value>'):
+   $ ros2 launch mvsim launch_world.launch.py --show-args
+   Arguments (pass arguments as '<name>:=<value>'):
 
-               'world_file':
-                  Path to the *.world.xml file to load
+      'world_file':
+         Path to the *.world.xml file to load
 
-               'headless':
-                  no description given
-                  (default: 'False')
+      'headless':
+         no description given
+         (default: 'False')
 
-               'do_fake_localization':
-                  publish fake identity tf "map" -> "odom"
-                  (default: 'True')
+      'do_fake_localization':
+         publish fake identity tf "map" -> "odom"
+         (default: 'True')
 
-               'publish_tf_odom2baselink':
-                  publish tf "odom" -> "base_link"
-                  (default: 'True')
+      'publish_tf_odom2baselink':
+         publish tf "odom" -> "base_link"
+         (default: 'True')
 
-               'force_publish_vehicle_namespace':
-                  Use vehicle name namespace even if there is only one vehicle
-                  (default: 'False')
+      'force_publish_vehicle_namespace':
+         Use vehicle name namespace even if there is only one vehicle
+         (default: 'False')
 
-               'use_rviz':
-                  Whether to launch RViz2
-                  (default: 'True')
+      'use_rviz':
+         Whether to launch RViz2
+         (default: 'True')
 
-               'rviz_config_file':
-                  If use_rviz:="True", the configuration file for rviz
-                  (default: '')
+      'rviz_config_file':
+         If use_rviz:="True", the configuration file for rviz
+         (default: '')
 
 |
 
@@ -92,9 +85,29 @@ You can use this code to bootstrap your own launch files:
 .. tab-set::
     .. tab-item:: ROS 1
 
-        .. code-block:: bash
-
-            xxx
+        .. code-block:: xml
+
+            <launch>
+               <!-- Arguments -->
+               <arg name="world_file" default="$(find my_package)/mvsim/demo.world.xml" />
+               <arg name="headless" default="False" />
+               <arg name="do_fake_localization" default="True" />
+               <arg name="publish_tf_odom2baselink" default="True" />
+               <arg name="force_publish_vehicle_namespace" default="False" />
+               <arg name="use_rviz" default="True" />
+               <arg name="rviz_config_file" default="$(find mvsim)/mvsim_tutorial/demo_depth_camera.rviz" />
+
+               <!-- Include the original launch file -->
+               <include file="$(find mvsim)/launch/launch_world.launch">
+                  <arg name="world_file" value="$(arg world_file)" />
+                  <arg name="headless" value="$(arg headless)" />
+                  <arg name="do_fake_localization" value="$(arg do_fake_localization)" />
+                  <arg name="publish_tf_odom2baselink" value="$(arg publish_tf_odom2baselink)" />
+                  <arg name="force_publish_vehicle_namespace" value="$(arg force_publish_vehicle_namespace)" />
+                  <arg name="use_rviz" value="$(arg use_rviz)" />
+                  <arg name="rviz_config_file" value="$(arg rviz_config_file)" />
+               </include>
+            </launch>
 
     .. tab-item:: ROS 2
         :selected:

diff --git a/launch/launch_world.launch b/launch/launch_world.launch
@@ -0,0 +1,27 @@
+<!-- Generic ROS1 launch file -->
+<!-- Read: https://mvsimulator.readthedocs.io/en/latest/mvsim_node.html  -->
+
+<launch>
+    <!-- Arguments -->
+    <arg name="world_file" />
+    <arg name="headless" default="False" />
+    <arg name="do_fake_localization" default="True" />
+    <arg name="publish_tf_odom2baselink" default="True" />
+    <arg name="force_publish_vehicle_namespace" default="False" />
+    <arg name="use_rviz" default="True" />
+    <arg name="rviz_config_file" default="$(find mvsim)/mvsim_tutorial/demo_depth_camera.rviz" />
+
+    <!-- mvsim Node -->
+    <node pkg="mvsim" type="mvsim_node" name="mvsim" output="screen">
+        <param name="world_file" value="$(arg world_file)"/>
+        <param name="headless" value="$(arg headless)"/>
+        <param name="do_fake_localization" value="$(arg do_fake_localization)"/>
+        <param name="publish_tf_odom2baselink" value="$(arg publish_tf_odom2baselink)"/>
+        <param name="force_publish_vehicle_namespace" value="$(arg force_publish_vehicle_namespace)"/>
+    </node>
+
+    <!-- RViz Node (conditional launch based on use_rviz argument) -->
+    <group if="$(arg use_rviz)">
+        <node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_config_file)"/>
+    </group>
+</launch>
diff --git a/launch/launch_world.launch.py b/launch/launch_world.launch.py
@@ -1,4 +1,5 @@
 # Generic ROS2 launch file
+# Read: https://mvsimulator.readthedocs.io/en/latest/mvsim_node.html
 
 from launch import LaunchDescription
 from launch.substitutions import LaunchConfiguration

diff --git a/mvsim_tutorial/demo_depth_camera.rviz b/mvsim_tutorial/demo_depth_camera.rviz
@@ -6,10 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /MarkerArray1
-        - /Image1
       Splitter Ratio: 0.4941176474094391
-    Tree Height: 538
+    Tree Height: 559
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +25,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: Image
   - Class: rviz_plugin_tutorials/Teleop
     Name: Teleop
     Topic: /cmd_vel
@@ -58,24 +56,22 @@ Visualization Manager:
       Value: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        base_footprint:
-          Value: true
         base_link:
           Value: true
-        camera1_image:
-          Value: true
-        camera1_points:
+        cam1:
           Value: true
-        laser1:
+        lidar1_points:
           Value: true
         map:
           Value: true
         odom:
           Value: true
-        world:
+        scanner1:
           Value: true
       Marker Alpha: 1
       Marker Scale: 1
@@ -84,18 +80,15 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        world:
-          map:
-            odom:
-              base_link:
-                base_footprint:
-                  {}
-                camera1_image:
-                  {}
-                camera1_points:
-                  {}
-                laser1:
-                  {}
+        map:
+          odom:
+            base_link:
+              cam1:
+                {}
+              lidar1_points:
+                {}
+              scanner1:
+                {}
       Update Interval: 0
       Value: true
     - Class: rviz/MarkerArray
@@ -106,6 +99,8 @@ Visualization Manager:
         mvsim.chassis_shape: true
         mvsim.chassis_shape.wheel0: true
         mvsim.chassis_shape.wheel1: true
+        mvsim.chassis_shape.wheel2: true
+        mvsim.chassis_shape.wheel3: true
       Queue Size: 100
       Value: true
     - Alpha: 1
@@ -166,7 +161,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /camera1_image
+      Image Topic: /cam1/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -176,6 +171,34 @@ Visualization Manager:
       Transport Hint: raw
       Unreliable: false
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: z
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: 3D LiDAR
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Flat Squares
+      Topic: /lidar1_points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -204,35 +227,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 14.817850112915039
+      Distance: 21.356739044189453
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 8.227726936340332
-        Y: -0.9801739454269409
-        Z: 0.4060775637626648
+        X: 8.40973949432373
+        Y: -0.6488088369369507
+        Z: 0.9110875725746155
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.180398091673851
+      Pitch: 0.24039803445339203
       Target Frame: <Fixed Frame>
-      Yaw: 2.8854002952575684
+      Yaw: 2.8703999519348145
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 1043
   Hide Left Dock: false
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f007001000002e8000000af0000004700ffffff00000001000001f80000035afc0200000004fb0000000a0049006d006100670065010000003d0000035a0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000339000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003de0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ba000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f007001000002fd000000b50000004700ffffff00000001000001f800000375fc0200000004fb0000000a0049006d006100670065010000003d000003750000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000339000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004260000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Teleop:
@@ -243,6 +266,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
-  X: 1152
-  Y: 27
+  Width: 1920
+  X: 1920
+  Y: 0