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Gepetto
aicp_mapping
Commits
b7cd87f5
Commit
b7cd87f5
authored
Apr 24, 2019
by
Maurice Fallon
Browse files
minor things, fix topic
parent
7cd5be64
Changes
3
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aicp_ros/launch/aicp.launch
View file @
b7cd87f5
...
...
@@ -31,6 +31,10 @@
<param
name=
"working_mode"
value=
"debug"
/>
<!-- Fixed frame (default: map, debug: map_test -->
<param
name=
"fixed_frame"
value=
"$(arg fixed_frame)"
/>
<!-- default is /aicp/pose_corrected -->
<param
name=
"output_channel"
value=
"/aicp/pose_corrected"
/>
<param
name=
"lidar_channel"
value=
"/point_cloud_filter/velodyne/point_cloud_filtered"
/>
<!-- Prior map info -->
<param
name=
"load_map_from_file"
value=
"$(arg load_map_from_file)"
/>
<param
name=
"map_from_file_path"
value=
"$(arg map_from_file_path)"
/>
...
...
aicp_ros/launch/view_recorded_rosbag_aicp_simple.launch
0 → 100644
View file @
b7cd87f5
<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg
name=
"rviz"
default=
"true"
/>
<arg
name=
"rviz_minimal"
default=
"true"
/>
<arg
name=
"quadruped_name"
default=
"anymal"
/>
<arg
name=
"quadruped_setup"
default=
"minimal_mb_inspection_v_1_2"
/>
<arg
name=
"description_name"
default=
"quadruped_description"
/>
<arg
name=
"world"
default=
"empty"
/>
<param
name=
"use_sim_time"
value=
"true"
/>
<!-- Load robot description -->
<include
file=
"$(find anymal_boxy_description)/launch/load.launch"
>
<arg
name=
"description_name"
value=
"$(arg description_name)"
/>
<arg
name=
"simulation"
value=
"false"
/>
<arg
name=
"velodyne"
value=
"true"
/>
<arg
name=
"realsense"
value=
"true"
/>
</include>
<arg
name=
"rviz_config_path"
default=
"$(find aicp_ros)/config/rviz/config_aicp.rviz"
/>
<!-- rviz -->
<group
if=
"$(arg rviz)"
>
<include
file=
"$(find anymal_rviz_visualization)/launch/rviz.launch"
>
<arg
name=
"rviz_world_path"
value=
"$(arg world)"
/>
<arg
name=
"rviz_config_path"
value=
"$(arg rviz_config_path)"
/>
<arg
name=
"tf_minimal"
value=
"false"
/>
</include>
</group>
</launch>
aicp_ros/python/aicp_tf_bridge.py
0 → 100755
View file @
b7cd87f5
#!/usr/bin/env python
# example showing publishing of a pose and a point cloud
# then moving the point cloud by moving the pose ... but not republishing
# the point cloud
# this is very useful for SLAM
import
rospy
from
geometry_msgs.msg
import
TransformStamped
from
geometry_msgs.msg
import
*
from
tf2_msgs.msg
import
TFMessage
from
visualization_msgs.msg
import
Marker
import
tf
import
math
import
numpy
import
time
pub
=
rospy
.
Publisher
(
"/tf"
,
TFMessage
,
queue_size
=
10
)
vis_pub
=
rospy
.
Publisher
(
"/visualization_marker"
,
Marker
,
queue_size
=
10
)
rospy
.
loginfo
(
"aicp_tf_bridge"
)
def
handle_odom_to_map
(
msg
):
print
"x"
#
tfm
=
TFMessage
()
this_t
=
TransformStamped
()
this_t
.
header
=
msg
.
header
this_t
.
header
.
frame_id
=
"odom"
this_t
.
child_frame_id
=
"map"
this_t
.
transform
.
translation
=
msg
.
pose
.
pose
.
position
this_t
.
transform
.
rotation
=
msg
.
pose
.
pose
.
orientation
tfm
.
transforms
.
append
(
this_t
)
pub
.
publish
(
tfm
)
rospy
.
init_node
(
'aicp_tf_bridge'
)
rospy
.
Subscriber
(
'/icp_tools/map_pose'
,
PoseWithCovarianceStamped
,
handle_odom_to_map
)
rospy
.
spin
()
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