Add Stretch All Drivers launch file

stretch_core/launch/stretch_all_drivers.launch

@@ -0,0 +1,36 @@
+<launch>
+
+  <arg name="rviz"                   default="false"         doc="whether to show Rviz" />
+  <arg name="broadcast_odom_tf"      default="true"          doc="whether to broadcast odom tf" />
+  <arg name="fail_out_of_range_goal" default="true"          doc="whether to fail trajectories with goals exceeding joint ranges" />
+  <arg name="rs_resolution"          default="high"          doc="resolution of the color/depth images ('low' or 'high')" />
+  <arg name="rs_preset"              default="High Accuracy" doc="depth image visual preset ('Default', 'High Accuracy', and more at https://dev.intelrealsense.com/docs/d400-series-visual-presets#section-preset-table)" />
+  <arg name="rs_publish_frustum_viz" default="false"         doc="whether to pub viz of cameras' frustums" />
+  <arg name="rs_publish_upright_img" default="true"          doc="whether to pub rotated upright color image" />
+  <arg name="rp_scan_mode"           default="Boost"         doc="scanning mode of the lidar ('Standard', 'Express', or 'Boost')" />
+
+  <!-- STRETCH DRIVER -->
+  <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="$(arg broadcast_odom_tf)"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="$(arg fail_out_of_range_goal)"/>
+  <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
+
+  <!-- D435i CAMERA -->
+  <include file="$(find stretch_core)/launch/stretch_realsense.launch">
+    <arg name="resolution" value="$(arg rs_resolution)" />
+    <arg name="preset" value="$(arg rs_preset)" />
+    <arg name="publish_frustum_viz" value="$(eval rs_publish_frustum_viz or rviz)" />
+    <arg name="publish_upright_img" value="$(arg rs_publish_upright_img)" />
+  </include>
+
+  <!-- LASER RANGE FINDER -->
+  <include file="$(find stretch_core)/launch/stretch_rplidar.launch">
+    <arg name="scan_mode" value="$(arg rp_scan_mode)" />
+  </include>
+
+  <!-- ODOMETRY FROM LASER SCAN MATCHER -->
+  <include file="$(find stretch_core)/launch/stretch_scan_matcher.launch" />
+
+  <!-- VISUALIZE -->
+  <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/stretch_all_drivers.rviz" if="$(arg rviz)" />
+
+</launch>

stretch_core/launch/stretch_realsense.launch

@@ -1,6 +1,5 @@
 <launch>
 
-  <arg name="rviz"                default="false"         doc="whether to show Rviz" />
   <arg name="resolution"          default="high"          doc="resolution of the color/depth images ('low' or 'high')" />
   <arg name="preset"              default="High Accuracy" doc="depth image visual preset ('Default', 'High Accuracy', and more at https://dev.intelrealsense.com/docs/d400-series-visual-presets#section-preset-table)" />
   <arg name="publish_frustum_viz" default="false"         doc="whether to pub viz of cameras' frustums" />
@@ -25,10 +24,4 @@
     <param name="target_x" type="double" value="-1.5708" />
   </node>
 
-  <!-- VISUALIZE -->
-  <group if="$(arg rviz)">
-    <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/realsense.rviz" />
-    <node name="fake_base_link_tf_publisher" pkg="tf" type="static_transform_publisher" args="0.019 -0.007 1.262 0.601 0.399 -0.364 0.589 /fake_base_link /camera_link 100" />
-  </group>
-
 </launch>

stretch_core/rviz/realsense.rviz

@@ -1,234 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.5
-    Tree Height: 255
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: PointCloud2
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        camera_accel_frame:
-          Value: false
-        camera_accel_optical_frame:
-          Value: false
-        camera_aligned_depth_to_color_frame:
-          Value: false
-        camera_color_frame:
-          Value: false
-        camera_color_optical_frame:
-          Value: false
-        camera_color_optical_frame_rotated:
-          Value: false
-        camera_depth_frame:
-          Value: false
-        camera_depth_optical_frame:
-          Value: false
-        camera_link:
-          Value: true
-        fake_base_link:
-          Value: true
-      Marker Alpha: 1
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        fake_base_link:
-          camera_link:
-            camera_accel_frame:
-              camera_accel_optical_frame:
-                {}
-            camera_aligned_depth_to_color_frame:
-              camera_color_optical_frame:
-                camera_color_optical_frame_rotated:
-                  {}
-            camera_color_frame:
-              {}
-            camera_depth_frame:
-              camera_depth_optical_frame:
-                {}
-      Update Interval: 0
-      Value: true
-    - Class: rviz/Marker
-      Enabled: false
-      Marker Topic: /frustum_marker/color_camera
-      Name: Color Camera Frustum
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: false
-    - Class: rviz/Marker
-      Enabled: false
-      Marker Topic: /frustum_marker/depth_camera
-      Name: Depth Camera Frustum
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: false
-    - 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
-      Min Color: 0; 0; 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 1
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /camera/depth/color/points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Class: rviz_plugin_tutorials/Imu
-      Color: 204; 51; 204
-      Enabled: false
-      History Length: 1
-      Name: Imu
-      Queue Size: 10
-      Topic: /camera/accel/sample_corrected
-      Unreliable: false
-      Value: false
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/color/upright_image_raw
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Color Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: fake_base_link
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 3.5590744018554688
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.7853981852531433
-      Focal Point:
-        X: 0.190033957362175
-        Y: -0.3485092520713806
-        Z: 0.6963028311729431
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2897970676422119
-      Target Frame: <Fixed Frame>
-      Yaw: 2.318114995956421
-    Saved: ~
-Window Geometry:
-  Color Image:
-    collapsed: false
-  Displays:
-    collapsed: false
-  Height: 1016
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001b50000035afc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000018a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160043006f006c006f007200200049006d00610067006501000001cd000001ca0000001600fffffffb0000000a0049006d0061006700650000000234000000960000000000000000fb0000000a0049006d0061006700650000000270000001270000000000000000fb0000000c00430061006d006500720061000000029e000000f90000000000000000fb0000000a0049006d0061006700650100000297000001000000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000057d0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1848
-  X: 72
-  Y: 27

stretch_core/rviz/stretch_all_drivers.rviz

@@ -0,0 +1,477 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 263
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_accel_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_accel_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_gyro_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_gyro_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra1_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra1_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra2_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra2_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_arm_l0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_arm_l1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_arm_l2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_arm_l3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_arm_l4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_aruco_inner_wrist:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_aruco_left_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_aruco_right_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_aruco_shoulder:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_aruco_top_wrist:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_finger_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_finger_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_fingertip_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_fingertip_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_head:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_head_pan:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_head_tilt:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_lift:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_mast:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_straight_gripper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_wrist_pitch:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_wrist_roll:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_wrist_yaw:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_wrist_yaw_bottom:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        respeaker_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Alpha: 1
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /frustum_marker/color_camera
+      Name: Color Camera Frustum
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /frustum_marker/depth_camera
+      Name: Depth Camera Frustum
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - 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
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 1
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: /camera/depth/color/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: false
+      History Length: 1
+      Name: Imu
+      Queue Size: 10
+      Topic: /camera/accel/sample_corrected
+      Unreliable: false
+      Value: false
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/upright_image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Color Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Camera
+      Enabled: false
+      Image Rendering: background and overlay
+      Image Topic: /camera/aligned_depth_to_color/image_raw
+      Name: Depth Image
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
+      Visibility:
+        Color Camera Frustum: true
+        Color Image: true
+        Depth Camera Frustum: true
+        Grid: true
+        Imu: true
+        LaserScan: true
+        PointCloud2: true
+        RobotModel: true
+        TF: true
+        Value: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan_filtered
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7853981852531433
+      Target Frame: <Fixed Frame>
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
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