wpb_home_mani

README.md

@@ -26,7 +26,7 @@ catkin_make
 
 ## 平台介绍
 MapTools工具是[北京六部工坊科技有限公司](http://www.6-robot.com)为旗下WP系列机器人快速设置地图航点所设计的辅助工具,具有操作简单,效果直观的优点。目前支持启智ROS,启程3,启程4和启明1等型号的机器人.
-![MapTools pic](./media/map_tools.png)
+![Nav pic](./media/wpb_home_nav.png)
 
 ## 操作方法
 
@@ -50,6 +50,7 @@ roslaunch waterplus_map_tools add_waypoint_monitor.launch
 ![2 pic](./media/toolbar.png)
 ![3 pic](./media/add_waypoint.png)
 ![4 pic](./media/waypoint.png)
+![MapTools pic](./media/map_tools.png)
 
 ### 3. 保存航点
 航点设置完毕后,使用如下指令保存航点:

launch/wpb_home_nav_test.launch

@@ -1,9 +1,10 @@
 <launch>
   <master auto="start"/>
 
-  <!-- Run wpb_home core -->
+  <!-- wpb_home core-->
   <node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
     <param name="serial_port" type="string" value="/dev/ftdi"/> 
+    <rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
   </node>
 
   <!--- Run Rplidar -->
@@ -41,16 +42,13 @@
   </node>
 
   <!-- RViz and TF tree -->
-  <arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
+  <arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
   <arg name="gui" default="true" />
   <arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/nav.rviz" />
 
   <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
   <param name="use_gui" value="$(arg gui)"/>
 
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
-  </node>
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 

rviz/nav.rviz

@@ -21,8 +21,10 @@ Panels:
         - /Kinect1
         - /Marker_Waypoint1
         - /Text1
+        - /PointCloud21
+        - /Marker_Obj1
       Splitter Ratio: 0.5
-    Tree Height: 767
+    Tree Height: 753
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -42,7 +44,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: LaserScan
 Visualization Manager:
   Class: ""
   Displays:
@@ -148,6 +150,31 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        mani_elbow:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mani_forearm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mani_left_finger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mani_lift:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mani_right_finger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -193,6 +220,7 @@ Visualization Manager:
         X: 0
         Y: 0
         Z: 0
+      Pose Color: 255; 85; 255
       Pose Style: None
       Radius: 0.03
       Shaft Diameter: 0.1
@@ -281,6 +309,45 @@ Visualization Manager:
         {}
       Queue Size: 100
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /kinect2/sd/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /obj_marker
+      Name: Marker_Obj
+      Namespaces:
+        line_box: true
+        line_obj: true
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -319,10 +386,10 @@ Visualization Manager:
         Z: 1.46426
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.746831
+      Pitch: 0.84683
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.18932
+      Yaw: 3.14432
     Saved: ~
 Window Geometry:
   Displays:
@@ -330,7 +397,7 @@ Window Geometry:
   Height: 1056
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001930000038efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000038e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000121000003f7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003f7000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000046fc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005a60000038e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000018e00000389fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006800fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000389000000e600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000121000003f7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003f7000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000072f00000046fc0100000002fb0000000800540069006d006501000000000000072f0000038800fffffffb0000000800540069006d006501000000000000045000000000000000000000059b0000038900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -339,6 +406,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
-  X: 55
-  Y: -14
+  Width: 1839
+  X: 70
+  Y: 18