Rename base_link as base_link_vis

CIFASIS · Jan 28, 2021 · b79408f · b79408f
1 parent 30f7d0a
commit b79408f
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Showing 16 changed files with 34 additions and 34 deletions.
diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
@@ -1,5 +1,5 @@
 # frames
 global_frame: map
-robot_base_frame: base_link
-transform_tolerance: 1.0 # si la transformación entre map y base_link supera este valor el robot se detiene
+robot_base_frame: base_link_vis
+transform_tolerance: 1.0 # si la transformación entre map y base_link_vis supera este valor el robot se detiene
 
diff --git a/config/fake_params.yaml b/config/fake_params.yaml
@@ -1,4 +1,4 @@
 odom_frame_id: odom # Which frame to use for odometry
-base_frame_id: base_link # Which frame to use for the robot base
+base_frame_id: base_link_vis # Which frame to use for the robot base
 global_frame_id: map # The name of the coordinate frame published by the localization system
 
diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
@@ -19,6 +19,6 @@ local_costmap:
     enabled: true
     observation_sources: point_cloud_sensor
     obstacle_range: 15.0
-    point_cloud_sensor: {data_type: PointCloud, topic: point_cloud_full/sensor, sensor_frame: base_link, marking: true, clearing: true}
+    point_cloud_sensor: {data_type: PointCloud, topic: point_cloud_full/sensor, sensor_frame: base_link_vis, marking: true, clearing: true}
 
 
diff --git a/rviz/config.rviz b/rviz/config.rviz
@@ -62,7 +62,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/rviz/costmap.rviz b/rviz/costmap.rviz
@@ -62,7 +62,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -136,7 +136,7 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        base_link:
+        base_link_vis:
           Value: true
         chassis_link:
           Value: false
@@ -174,7 +174,7 @@ Visualization Manager:
       Tree:
         map:
           odom:
-            base_link:
+            base_link_vis:
               chassis_link:
                 fork_fl_link:
                   wheel_fl_link:

diff --git a/rviz/follower.rviz b/rviz/follower.rviz
@@ -65,7 +65,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -338,7 +338,7 @@ Visualization Manager:
       Name: Current View
       Near Clip Distance: 0.009999999776482582
       Pitch: 1.5697963237762451
-      Target Frame: base_link
+      Target Frame: base_link_vis
       Value: ThirdPersonFollower (rviz)
       Yaw: 3.1415927410125732
     Saved:
@@ -359,7 +359,7 @@ Visualization Manager:
         Name: ThirdPersonFollower
         Near Clip Distance: 0.009999999776482582
         Pitch: 1.5697963237762451
-        Target Frame: base_link
+        Target Frame: base_link_vis
         Value: ThirdPersonFollower (rviz)
         Yaw: 3.1415927410125732
 Window Geometry:

diff --git a/rviz/footprint.rviz b/rviz/footprint.rviz
@@ -63,7 +63,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/rviz/global_planner.rviz b/rviz/global_planner.rviz
@@ -64,7 +64,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/rviz/local_planner.rviz b/rviz/local_planner.rviz
@@ -61,7 +61,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/rviz/odom.rviz b/rviz/odom.rviz
@@ -64,7 +64,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -143,7 +143,7 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        base_link:
+        base_link_vis:
           Value: true
         chassis_link:
           Value: false
@@ -183,7 +183,7 @@ Visualization Manager:
       Tree:
         map:
           odom:
-            base_link:
+            base_link_vis:
               chassis_link:
                 fork_fl_link:
                   wheel_fl_link:

diff --git a/rviz/plant.rviz b/rviz/plant.rviz
@@ -63,7 +63,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -137,7 +137,7 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        base_link:
+        base_link_vis:
           Value: true
         chassis_link:
           Value: false
@@ -175,7 +175,7 @@ Visualization Manager:
       Tree:
         map:
           odom:
-            base_link:
+            base_link_vis:
               chassis_link:
                 fork_fl_link:
                   wheel_fl_link:

diff --git a/rviz/potential_field.rviz b/rviz/potential_field.rviz
@@ -62,7 +62,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/rviz/teb.rviz b/rviz/teb.rviz
@@ -64,7 +64,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/rviz/top.rviz b/rviz/top.rviz
@@ -62,7 +62,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
+        base_link_vis:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/src/goal.cpp b/src/goal.cpp
@@ -139,8 +139,8 @@ bool isRobotNearGoal(geometry_msgs::Pose pose, const tf::TransformListener& tf)
     // obtiene el pose del robot
     tf::StampedTransform transform;
     ros::Time now = ros::Time::now();
-    tf.waitForTransform("map", "base_link", now, ros::Duration(2.0));
-    tf.lookupTransform("map", "base_link", now, transform);
+    tf.waitForTransform("map", "base_link_vis", now, ros::Duration(2.0));
+    tf.lookupTransform("map", "base_link_vis", now, transform);
     tf::Matrix3x3 m(transform.getRotation());
     double roll, pitch, yaw;
     m.getRPY(roll, pitch, yaw);

diff --git a/src/point_cloud_obstacle.cpp b/src/point_cloud_obstacle.cpp
@@ -112,16 +112,16 @@ int main(int argc, char** argv) {
         // crea la nube de puntos
         sensor_msgs::PointCloud pc;
         pc.header.stamp = ros::Time::now();
-        pc.header.frame_id = "base_link";
+        pc.header.frame_id = "base_link_vis";
 
-        // obtiene la posición (x, y) del base_link del robot
+        // obtiene la posición (x, y) del base_link_vis del robot
         tf::StampedTransform transform;
         ros::Time now = ros::Time::now();
-        tf.waitForTransform("map", "base_link", now, ros::Duration(2.0));
-        tf.lookupTransform("map", "base_link", now, transform);
+        tf.waitForTransform("map", "base_link_vis", now, ros::Duration(2.0));
+        tf.lookupTransform("map", "base_link_vis", now, transform);
         double baseLinkX = transform.getOrigin().x();
         double baseLinkY = transform.getOrigin().y();
-        // ROS_INFO("base_link: (%.2f, %.2f)", baseLinkX, baseLinkY);
+        // ROS_INFO("base_link_vis: (%.2f, %.2f)", baseLinkX, baseLinkY);
 
         // recorre las líneas
         for (double lineX = startX; lineX <= endX; lineX += lineSeparation) {
@@ -157,18 +157,18 @@ int main(int argc, char** argv) {
 
                 // ROS_INFO("Se genera la planta en y %.2f", plantY);
 
-                // genera el punto del centro  de la planta y lo transforma al frame base_link
+                // genera el punto del centro  de la planta y lo transforma al frame base_link_vis
                 geometry_msgs::PointStamped mapPoint; // planta en frame map
                 mapPoint.header.frame_id = "map";
                 mapPoint.header.stamp = ros::Time();
                 mapPoint.point.x = lineX;
                 mapPoint.point.y = plantY;
                 mapPoint.point.z = 0.0;
-                geometry_msgs::PointStamped basePoint; // planta en frame base_link
+                geometry_msgs::PointStamped basePoint; // planta en frame base_link_vis
                 try {
-                    tf.transformPoint("base_link", mapPoint, basePoint);
+                    tf.transformPoint("base_link_vis", mapPoint, basePoint);
                 } catch(tf::TransformException& ex){
-                    ROS_ERROR("Excepcion intentando hacer la transformacion de map a base_link: %s",
+                    ROS_ERROR("Excepcion intentando hacer la transformacion de map a base_link_vis: %s",
                             ex.what());
                     continue;
                 }