Connected odom to tf

prajankya · Jan 11, 2017 · 77db08a · 77db08a
1 parent 6bc0cd2
commit 77db08a
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Showing 5 changed files with 346 additions and 10 deletions.
diff --git a/agri_mapper/launch/sensors_postprocessing.launch b/agri_mapper/launch/sensors_postprocessing.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <include file="$(find agri_mapper_base)/launch/odom_calc.launch" />
+  <!--  <include file="$(find agri_mapper_base)/launch/imu_calc.launch" />-->
 
 </launch>
diff --git a/agri_mapper_base/src/imu_calc.cpp b/agri_mapper_base/src/imu_calc.cpp
@@ -111,6 +111,7 @@ int main(int argc, char **argv) {
 
   ros::NodeHandle n;
   ros::Subscriber imu_sub = n.subscribe<std_msgs::String>("imu_msg", 50, imuCallback);
+  imu_pub = n.advertise<sensor_msgs::Imu>("imu_raw", 50);
 
   current_time = ros::Time::now();
   last_time = ros::Time::now();
@@ -120,6 +121,11 @@ int main(int argc, char **argv) {
   while (n.ok()) {
     ros::spinOnce();
 
+    imu_msg.header.stamp = ros::Time::now();
+    imu_msg.header.frame_id = "chassis_link";
+
+    imu_pub.publish(imu_msg);
+
     rate.sleep();
   }
 }
diff --git a/agri_mapper_bringup/config/rviz_View2.rviz b/agri_mapper_bringup/config/rviz_View2.rviz
@@ -6,8 +6,17 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /TF1/Tree1
-      Splitter Ratio: 0.5
+        - /LaserScan1
+        - /TF1
+        - /TF1/Tree1/map1
+        - /TF1/Tree1/map1/odom1
+        - /TF1/Tree1/map1/odom1/base_link1
+        - /TF1/Tree1/map1/odom1/base_link1/chassis_link1
+        - /TF1/Tree1/map1/odom1/base_link1/chassis_link1/lidar_stand1
+        - /TF1/Tree1/map1/odom1/base_link1/chassis_link1/lidar_stand1/lidar_base1
+        - /TF1/Tree1/map1/odom1/base_link1/chassis_link1/lidar_stand1/lidar_base1/lidar_bottom1
+        - /TF1/Tree1/map1/odom1/base_link1/chassis_link1/lidar_stand1/lidar_base1/lidar_bottom1/lidar_up1
+      Splitter Ratio: 0.598522
     Tree Height: 761
   - Class: rviz/Selection
     Name: Selection
@@ -134,7 +143,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 25
+      Max Intensity: 41
       Min Color: 0; 0; 0
       Min Intensity: 9
       Name: LaserScan
@@ -145,7 +154,7 @@ Visualization Manager:
       Size (m): 0.01
       Style: Flat Squares
       Topic: /agri_mapper/scan
-      Unreliable: false
+      Unreliable: true
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -279,11 +288,11 @@ Visualization Manager:
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
+    collapsed: false
   Height: 1000
-  Hide Left Dock: true
+  Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001a800000399fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000399000000ee00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000035e000000ca00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650000000000000005000000042500fffffffb0000000800540069006d00650100000000000004500000000000000000000005910000039900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001a800000399fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000399000000ee00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000035e000000ca00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650000000000000005000000042500fffffffb0000000800540069006d00650100000000000004500000000000000000000003e30000039900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -293,5 +302,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1425
-  X: 452
-  Y: 15
+  X: 434
+  Y: 12