Feat #1: update 0620 | 1st success,

zzangdol-2023 · Jun 20, 2023 · acfdbba · acfdbba
1 parent 539c3b0
commit acfdbba
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Showing 11 changed files with 44 additions and 196 deletions.
diff --git a/bag/2023-06-17-23-09-17.bag b/bag/2023-06-17-23-09-17.bag
diff --git a/bag/2023-06-17-23-26-58.bag b/bag/2023-06-17-23-26-58.bag
diff --git a/bag/2023-06-17-23-36-50.bag b/bag/2023-06-17-23-36-50.bag
diff --git a/bag/2023-06-17_23:09:50.bag b/bag/2023-06-17_23:09:50.bag
diff --git a/bag/2023-06-17_23:11:33.bag b/bag/2023-06-17_23:11:33.bag
diff --git a/bag/2023-06-17_23:12:07.bag b/bag/2023-06-17_23:12:07.bag
diff --git a/launch/zzangdol_bring_all.launch b/launch/zzangdol_bring_all.launch
@@ -18,7 +18,6 @@
 
   <!-- 4. bringup rosserial communication with mcu, cmd_Vel converter -->
   <include file="$(find zzangdol_bringup)/launch/zzangdol_core.launch">
-    <arg name="multi_robot_name" value="$(arg multi_robot_name)"/>
     <arg name="usb_config" value="$(arg usb_config)"/>
   </include>
 

diff --git a/rviz/record_monitoring.rviz b/rviz/record_monitoring.rviz
@@ -6,14 +6,17 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /RobotModel1
         - /LaserScan1
         - /Imu1
         - /Imu1/Box properties1
         - /Imu1/Axes properties1
         - /Imu1/Acceleration properties1
         - /TF1
+        - /TF1/Frames1
+        - /Imu2
       Splitter Ratio: 0.5
-    Tree Height: 746
+    Tree Height: 455
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -31,7 +34,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -111,7 +114,7 @@ Visualization Manager:
       TF Prefix: ""
       Update Interval: 0
       Value: true
-      Visual Enabled: true
+      Visual Enabled: false
     - Alpha: 0.5
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -148,11 +151,11 @@ Visualization Manager:
         Enable acceleration: true
       Axes properties:
         Axes scale: 0.20000000298023224
-        Enable axes: false
+        Enable axes: true
       Box properties:
         Box alpha: 0.30000001192092896
         Box color: 255; 255; 0
-        Enable box: true
+        Enable box: false
         x_scale: 0.30000001192092896
         y_scale: 0.30000001192092896
         z_scale: 0.30000001192092896
@@ -166,27 +169,29 @@ Visualization Manager:
       fixed_frame_orientation: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
-        All Enabled: true
+        All Enabled: false
         base_footprint:
-          Value: true
+          Value: false
         base_link:
-          Value: true
+          Value: false
         fwheel_l_link:
-          Value: true
+          Value: false
         fwheel_r_link:
-          Value: true
+          Value: false
         imu_link:
           Value: true
         lidar_link:
-          Value: true
+          Value: false
         rwheel_l_link:
-          Value: true
+          Value: false
         rwheel_r_link:
-          Value: true
+          Value: false
       Marker Alpha: 1
-      Marker Scale: 0.4000000059604645
+      Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -208,6 +213,16 @@ Visualization Manager:
               {}
       Update Interval: 0
       Value: true
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Imu
+      Queue Size: 10
+      Topic: /imu/data
+      Unreliable: false
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -236,7 +251,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.8407881259918213
+      Distance: 0.936186671257019
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -252,17 +267,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.8947961330413818
+      Pitch: 0.15979741513729095
       Target Frame: <Fixed Frame>
-      Yaw: 0.7403985261917114
+      Yaw: 6.228603363037109
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1043
+  Height: 752
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000252fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000252000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000252fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000252000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005700000003efc0100000002fb0000000800540069006d0065010000000000000570000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000002ff0000025200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -271,6 +286,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 0
-  Y: 360
+  Width: 1392
+  X: 200
+  Y: 193
diff --git a/src/cmd_vel_converter.cpp b/src/cmd_vel_converter.cpp
@@ -18,8 +18,8 @@
 #define MIN_ANGLE 0
 
 
-#define P_VEL 40
-#define P_ANG 20
+#define P_VEL 18
+#define P_ANG -30
 
 // Create a publisher for the cmd_vel topic
 ros::Publisher cmd_vel_converter;
@@ -251,8 +251,8 @@ void cmdVelEcho_simple_Callback(const geometry_msgs::Twist::ConstPtr &cmd_vel_ec
 
 void cmdVel_simple_Callback(const geometry_msgs::Twist::ConstPtr &cmd_vel)
 {
-    converted.linear.x = P_VEL * cmd_vel->linear.x;
-    converted.angular.z = P_ANG * cmd_vel->angular.z;
+    converted.linear.x = (cmd_vel->linear.x) * P_VEL;
+    converted.angular.z = (cmd_vel->angular.z) * P_ANG;
 
     cmd_vel_converter.publish(converted);
 }
@@ -275,11 +275,11 @@ int main(int argc, char **argv)
     // ROS_INFO("cmd_vel_echo_converter - Setup publisher on cmd_vel_converted");
 
     // Subscribe to the cmd_vel topic
-    cmd_vel_sub = nh.subscribe("cmd_vel", 10, cmdVelEcho_simple_Callback);
+    cmd_vel_sub = nh.subscribe("cmd_vel", 10, cmdVel_simple_Callback);
     // ROS_INFO("cmd_vel_converter - Setup subscriber on cmd_vel");
 
     // Subscribe to the cmd_vel topic
-    cmd_vel_echo_sub = nh.subscribe("cmd_vel_echo", 10, cmdVel_simple_Callback);
+    cmd_vel_echo_sub = nh.subscribe("cmd_vel_echo", 10, cmdVelEcho_simple_Callback);
     // ROS_INFO("cmd_vel_echo_converter - Setup subscriber on cmd_vel");
 
     // Enter the main event loop

diff --git a/urdf/zzangdol_ai_car.urdf b/urdf/zzangdol_ai_car.urdf
diff --git a/urdf/zzangdol_ai_car.urdf.xacro b/urdf/zzangdol_ai_car.urdf.xacro
@@ -156,4 +156,4 @@
     <parent link="base_link"/>
     <child link="imu_link"/>
   </joint>
-</robot>
+</robot>