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Got pan/tilt and tower combo node done. Other misc changes.

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Corwin Perren
2018-07-14 20:54:50 -07:00
parent de93764849
commit 1b7f5437b9
10 changed files with 271 additions and 112 deletions
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2
software/ros_packages/rover_main/launch/rover.launch
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@@ -13,6 +13,6 @@
<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>
<!-- ########## Start Odometry Nodes ########## -->
<include file="$(find rover_main)/launch/rover/odometry.launch"/>
<include file="$(find rover_main)/launch/rover/odometry2.launch"/>
</launch>

103
software/ros_packages/rover_main/launch/rover/odometry2.launch
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@@ -1,68 +1,71 @@
<launch>
<!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
<!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" >
<param name="gps_sentence_topic" value="/nmea_sentence"/>
<param name="imu_data_topic" value="/imu/data"/>
<!--<remap from="nmea_sentence" to="gps/sentence"/>-->
<!--<remap from="imu/data" to="/imu/data"/>-->
</node>
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>
<group ns="rover_odometry">
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" >
<!--<param name="gps_sentence_topic" value="/nmea_sentence"/>-->
<!--<param name="imu_data_topic" value="/imu/data"/>-->
<!--<remap from="nmea_sentence" to="gps/sentence"/>-->
<!--<remap from="imu/data" to="/imu/data"/>-->
</node>
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
</node>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
<param name="output_frame" value="odom"/>
<param name="frequency" value="20"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="false"/>
<!--<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>-->
<!--<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>-->
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<!--<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">-->
<!--<param name="output_frame" value="odom"/>-->
<!--<param name="frequency" value="20"/>-->
<!--<param name="odom_used" value="true"/>-->
<!--<param name="imu_used" value="true"/>-->
<!--<param name="vo_used" value="false"/>-->
<!--<param name="sensor_timeout" value="0.1"/>-->
<!--<param name="two_d_mode" value="false"/>-->
<param name="odom0" value="/odometry/gps"/>
<param name="imu0" value="/imu/data"/>
<!--<param name="map_frame" value="map"/>-->
<!--<param name="odom_frame" value="odom"/>-->
<!--<param name="base_link_frame" value="base_link"/>-->
<!--<param name="world_frame" value="odom"/>-->
<rosparam param="odom0_config">[true, true, false,
false, false, false,
false , false, false,
false, false, false,
false, false, false]</rosparam>
<!--<param name="odom0" value="odometry/gps"/>-->
<!--<param name="imu0" value="imu/data"/>-->
<rosparam param="imu0_config">[false, false, false,
true , true , true,
false, false, false,
true , true , true ,
true , true , true ]</rosparam>
<!--<rosparam param="odom0_config">[true, true, false,-->
<!--false, false, false,-->
<!--false , false, false,-->
<!--false, false, false,-->
<!--false, false, false]</rosparam>-->
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<!--<rosparam param="imu0_config">[false, false, false,-->
<!--true , true , true,-->
<!--false, false, false,-->
<!--true , true , true ,-->
<!--true , true , true ]</rosparam>-->
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<!--<param name="odom0_differential" value="false"/>-->
<!--<param name="imu0_differential" value="false"/>-->
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<!--<param name="imu0_remove_gravitational_acceleration" value="true"/>-->
<param name="print_diagnostics" value="true"/>
<!--<param name="odom0_relative" value="false"/>-->
<!--<param name="imu0_relative" value="false"/>-->
<!-- ======== ADVANCED PARAMETERS ======== -->
<!--<param name="print_diagnostics" value="true"/>-->
<param name="odom0_queue_size" value="2"/>
<param name="imu0_queue_size" value="10"/>
<!--&lt;!&ndash; ======== ADVANCED PARAMETERS ======== &ndash;&gt;-->
</node>
<!--<param name="odom0_queue_size" value="2"/>-->
<!--<param name="imu0_queue_size" value="10"/>-->
<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">
<param name="broadcast_utm_transform" value="true"/>
</node>
<!--</node>-->
<!--<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">-->
<!--<param name="broadcast_utm_transform" value="true"/>-->
<!--</node>-->
</group>
</launch>