update slam.launch

launch/robocup_home.launch.py

@@ -50,34 +50,17 @@ def generate_launch_description():
         )
     )
 
-    # robot_state_publisher_cmd = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
-    #     ),
-    #     launch_arguments={'use_sim_time': use_sim_time}.items()
-    # )
-
     spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, 'spawn_wpb.launch.py')
         )
     )
 
-    rviz_cmd = Node(
-            package='rviz2',
-            namespace='',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', [os.path.join(get_package_share_directory('wpr_simulation2'), 'rviz', 'sensor.rviz')]]
-        )
-
     ld = LaunchDescription()
 
     # Add the commands to the launch description
     ld.add_action(gzserver_cmd)
     ld.add_action(gzclient_cmd)
-    # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
-    ld.add_action(rviz_cmd)
 
     return ld

launch/slam.launch.py

@@ -27,43 +27,13 @@ from launch_ros.actions import Node
 
 def generate_launch_description():
     launch_file_dir = os.path.join(get_package_share_directory('wpr_simulation2'), 'launch')
-    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
 
-    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
-
-    world = os.path.join(
-        get_package_share_directory('wpr_simulation2'),
-        'worlds',
-        'robocup_home.world'
-    )
-
-    gzserver_cmd = IncludeLaunchDescription(
+    gazebo_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
-        ),
-        launch_arguments={'world': world}.items()
-    )
-
-    gzclient_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+            os.path.join(launch_file_dir, 'robocup_home.launch.py')
         )
     )
 
-    spawn_robot_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'spawn_wpb.launch.py')
-        )
-    )
-
-    # Define the parameters for the SLAM node
-    # slam_params = {
-    #     "use_sim_time": True,
-    #     "base_frame": "base_footprint",
-    #     "odom_frame": "odom",
-    #     "map_frame": "map"
-    # }
-
     slam_cmd = Node(
         package="slam_toolbox",
         executable="sync_slam_toolbox_node",
@@ -76,19 +46,17 @@ def generate_launch_description():
     )
 
     rviz_cmd = Node(
-            package='rviz2',
-            namespace='',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', [os.path.join(get_package_share_directory('wpr_simulation2'), 'rviz', 'slam.rviz')]]
-        )
+        package='rviz2',
+        namespace='',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', [os.path.join(get_package_share_directory('wpr_simulation2'), 'rviz', 'slam.rviz')]]
+    )
 
     ld = LaunchDescription()
 
     # Add the commands to the launch description
-    ld.add_action(gzserver_cmd)
-    ld.add_action(gzclient_cmd)
-    ld.add_action(spawn_robot_cmd)
+    ld.add_action(gazebo_cmd)
     ld.add_action(slam_cmd)
     ld.add_action(rviz_cmd)
 

rviz/slam.rviz

@@ -4,9 +4,7 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
+        - /LaserScan1
         - /Map1
       Splitter Ratio: 0.5
     Tree Height: 684
@@ -255,18 +253,18 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.5873717069625854
-        Y: -0.10902519524097443
+        X: -0.5878446698188782
+        Y: 0.014699108898639679
         Z: -0.666007936000824
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.9953979253768921
+      Pitch: 0.9803979396820068
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.1354167461395264
+      Yaw: 3.1454169750213623
     Saved: ~
 Window Geometry:
   Displays:
@@ -274,7 +272,7 @@ Window Geometry:
   Height: 1376
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000217000004c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000337000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e010000037a000001850000018500ffffff000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b60000003efc0100000002fb0000000800540069006d00650100000000000009b6000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000684000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000217000004c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000337000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e010000037a000001850000018500ffffff000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009ba0000003efc0100000002fb0000000800540069006d00650100000000000009ba000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000688000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   SlamToolboxPlugin:
@@ -285,6 +283,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 2486
-  X: 74
+  Width: 2490
+  X: 70
   Y: 27