added launch file to launch urdf model and thruster viz (#15)

* added launch file to launch urdf model and thruster viz

* removed unused imports

README.md

@@ -2,5 +2,6 @@
 Repo for visualizing our various data streams.
 
 Includes:
+- [Thruster Visualization](./thruster-visualization/README.md) - Visualizes thruster data (for Freya) in Foxglove Studio
 - [URDF Models](./urdf-models/README.md) - Collection of 3D models that can be seen in Foxglove Studio
 - [Foxglove Studio Parameter Extension](./foxglove-extensions/parameter-slider-extension/README.md) - Extension for Foxglove that lets you change node parameters more easily

freya-visualization/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.8)
+project(freya_visualization)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

freya-visualization/launch/freya_viz.launch.py

@@ -0,0 +1,25 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():     
+
+    freya_model_launch = IncludeLaunchDescription(
+        launch_description_source=PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('urdf_models'), 'launch', 'freya_urdf.launch.py')
+        ),
+    )
+
+    thruster_viz_launch = IncludeLaunchDescription(
+        launch_description_source=PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('thruster_visualization'), 'launch', 'thruster_visualization.launch.py')
+        ),
+    )
+
+    return LaunchDescription([
+        freya_model_launch,
+        thruster_viz_launch,
+    ])

freya-visualization/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>freya_visualization</name>
+  <version>0.0.0</version>
+  <description>Launch files for visualizing Freya</description>
+  <maintainer email="[email protected]">Eirik Kolås</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>thruster_visualization</exec_depend>
+  <exec_depend>urdf_models</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

urdf-models/launch/freya_urdf.launch.py

@@ -1,35 +1,26 @@
 import math
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import  PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
 
 def generate_launch_description():
-    ld = LaunchDescription()
-    package_name = 'urdf_models'
-    urdf_default_path = PathJoinSubstitution(['urdf', 'freya', 'ASV_MainAssembly.urdf'])
+    urdf_path = PathJoinSubstitution(['urdf', 'freya', 'ASV_MainAssembly.urdf'])
 
-    # Declare the launch arguments (for this launch file)
-    urdf_package_path_launch_arg = DeclareLaunchArgument(
-        name='model',
-        default_value=urdf_default_path, 
-        description='Path to robot urdf file relative to package'
-    )
-
-    # Include the launch description for the urdf launch file
+    # Include the launch description for the urdf launch file (separate package. Find it using rosdep)
     urdf_launch_path = PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'description.launch.py'])
     urdf_launch = IncludeLaunchDescription(
         launch_description_source=urdf_launch_path,
         launch_arguments={
-            'urdf_package': package_name,
-            'urdf_package_path': LaunchConfiguration('model')
+            'urdf_package': 'urdf_models',
+            'urdf_package_path': urdf_path
         }.items()
     )
 
-    # base_link (NED) to base_link (SEU) tf. TODO: Move to asv_setup tf.launch.py
-    tf_base_link_ned_to_base_link_enu = Node(
+    # base_link (NED) to freya_model
+    tf_base_link_to_freya_model = Node(
         package='tf2_ros',
         executable='static_transform_publisher',
         arguments=['--x'             , '0',
@@ -39,11 +30,10 @@ def generate_launch_description():
                    '--pitch'         , str(math.pi),
                    '--yaw'           , '0',
                    '--frame-id'      , 'base_link',
-                   '--child-frame-id', 'base_link_SEU']
+                   '--child-frame-id', 'freya_model']
     )
 
     return LaunchDescription([
-        urdf_package_path_launch_arg,
         urdf_launch,
-        tf_base_link_ned_to_base_link_enu
+        tf_base_link_to_freya_model
     ])

urdf-models/urdf/freya/ASV_MainAssembly.urdf

@@ -5,7 +5,7 @@
 <robot
   name="ASV_MainAssembly">
   <link
-    name="base_link_SEU">
+    name="freya_model">
     <visual>
       <origin
         xyz="0 0 0"