From ede98981ba7116bb04c103e754f0b7f1452e8fab Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Mon, 21 Sep 2020 14:27:12 +0200 Subject: [PATCH 1/4] Update naming conventions and add launch tests --- .../load_scancontrol_26x0_29x0_25.launch | 3 -- .../launch/load_scancontrol_27x0_100.launch | 3 -- .../launch/load_scancontrol_30xx_25.launch | 3 -- .../test_scancontrol_26x0_29x0_25.launch | 8 ------ .../launch/test_scancontrol_27x0_100.launch | 8 ------ .../launch/test_scancontrol_30xx_25.launch | 8 ------ .../urdf/scancontrol_26x0_29x0_25.xacro | 5 ---- .../urdf/scancontrol_27x0_100.xacro | 5 ---- .../urdf/scancontrol_30xx_25.xacro | 5 ---- .../launch/test_driver.launch | 4 +-- .../CMakeLists.txt | 7 ++++- .../config/rviz.rviz | 0 .../launch/load_26x0_29x0_25.launch | 3 ++ .../launch/load_27x0_100.launch | 3 ++ .../launch/load_30x0_25.launch | 3 ++ .../launch/test_26x0_29x0_25.launch | 6 ++++ .../launch/test_27x0_100.launch | 6 ++++ .../launch/test_30x0_25.launch | 6 ++++ .../26x0_29x0_25/collision/base_link.stl | Bin .../meshes/26x0_29x0_25/visual/base_link.dae | 0 .../meshes/27x0_100/collision/base_link.stl | Bin .../meshes/27x0_100/visual/base_link.dae | 0 .../meshes/30x0_25/collision/base_link.stl | Bin .../meshes/30x0_25/visual/base_link.dae | 0 .../package.xml | 2 +- .../tests/roslaunch_test.xml | 26 ++++++++++++++++++ .../urdf/26x0_29x0_25.xacro | 5 ++++ .../urdf/26x0_29x0_25_macro.xacro | 6 ++-- .../urdf/27x0_100.xacro | 5 ++++ .../urdf/27x0_100_macro.xacro | 6 ++-- .../urdf/30x0_25.xacro | 5 ++++ .../urdf/30x0_25_macro.xacro | 6 ++-- 32 files changed, 86 insertions(+), 61 deletions(-) delete mode 100644 micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch delete mode 100644 micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro delete mode 100644 micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro delete mode 100644 micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro rename {micro_epsilon_scancontrol_description => micro_epsilon_scancontrol_support}/CMakeLists.txt (52%) rename {micro_epsilon_scancontrol_description => micro_epsilon_scancontrol_support}/config/rviz.rviz (100%) create mode 100644 micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch create mode 100644 micro_epsilon_scancontrol_support/launch/load_27x0_100.launch create mode 100644 micro_epsilon_scancontrol_support/launch/load_30x0_25.launch create mode 100644 micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch create mode 100644 micro_epsilon_scancontrol_support/launch/test_27x0_100.launch create mode 100644 micro_epsilon_scancontrol_support/launch/test_30x0_25.launch rename micro_epsilon_scancontrol_description/meshes/collision/collision.stl => micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/collision/base_link.stl (100%) rename micro_epsilon_scancontrol_description/meshes/visual/visual.dae => micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/visual/base_link.dae (100%) rename micro_epsilon_scancontrol_description/meshes/collision/collision_27x0_100.stl => micro_epsilon_scancontrol_support/meshes/27x0_100/collision/base_link.stl (100%) rename micro_epsilon_scancontrol_description/meshes/visual/visual_27x0_100.dae => micro_epsilon_scancontrol_support/meshes/27x0_100/visual/base_link.dae (100%) rename micro_epsilon_scancontrol_description/meshes/collision/collision_30xx_25.stl => micro_epsilon_scancontrol_support/meshes/30x0_25/collision/base_link.stl (100%) rename micro_epsilon_scancontrol_description/meshes/visual/visual_30xx_25.dae => micro_epsilon_scancontrol_support/meshes/30x0_25/visual/base_link.dae (100%) rename {micro_epsilon_scancontrol_description => micro_epsilon_scancontrol_support}/package.xml (91%) create mode 100644 micro_epsilon_scancontrol_support/tests/roslaunch_test.xml create mode 100644 micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro rename micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro => micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro (73%) create mode 100644 micro_epsilon_scancontrol_support/urdf/27x0_100.xacro rename micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro => micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro (74%) create mode 100644 micro_epsilon_scancontrol_support/urdf/30x0_25.xacro rename micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro => micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro (77%) diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch deleted file mode 100644 index e9af850..0000000 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch deleted file mode 100644 index 3959768..0000000 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch deleted file mode 100644 index b52b016..0000000 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch deleted file mode 100644 index d3ba2bc..0000000 --- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch deleted file mode 100644 index 03bc79d..0000000 --- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch deleted file mode 100644 index a454e1e..0000000 --- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro deleted file mode 100644 index 7419971..0000000 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro deleted file mode 100644 index a9242c3..0000000 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro deleted file mode 100644 index d1b4e56..0000000 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/micro_epsilon_scancontrol_driver/launch/test_driver.launch b/micro_epsilon_scancontrol_driver/launch/test_driver.launch index 98ad22a..3d502e6 100644 --- a/micro_epsilon_scancontrol_driver/launch/test_driver.launch +++ b/micro_epsilon_scancontrol_driver/launch/test_driver.launch @@ -4,7 +4,7 @@ - + @@ -13,6 +13,6 @@ - + \ No newline at end of file diff --git a/micro_epsilon_scancontrol_description/CMakeLists.txt b/micro_epsilon_scancontrol_support/CMakeLists.txt similarity index 52% rename from micro_epsilon_scancontrol_description/CMakeLists.txt rename to micro_epsilon_scancontrol_support/CMakeLists.txt index 42aeeef..349459a 100644 --- a/micro_epsilon_scancontrol_description/CMakeLists.txt +++ b/micro_epsilon_scancontrol_support/CMakeLists.txt @@ -1,10 +1,15 @@ cmake_minimum_required(VERSION 2.8.3) -project(micro_epsilon_scancontrol_description) +project(micro_epsilon_scancontrol_support) find_package(catkin REQUIRED) catkin_package() +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/roslaunch_test.xml) +endif() + install(DIRECTORY config launch meshes urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/micro_epsilon_scancontrol_description/config/rviz.rviz b/micro_epsilon_scancontrol_support/config/rviz.rviz similarity index 100% rename from micro_epsilon_scancontrol_description/config/rviz.rviz rename to micro_epsilon_scancontrol_support/config/rviz.rviz diff --git a/micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch b/micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch new file mode 100644 index 0000000..83b6da4 --- /dev/null +++ b/micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch @@ -0,0 +1,3 @@ + + + diff --git a/micro_epsilon_scancontrol_support/launch/load_27x0_100.launch b/micro_epsilon_scancontrol_support/launch/load_27x0_100.launch new file mode 100644 index 0000000..d4754f7 --- /dev/null +++ b/micro_epsilon_scancontrol_support/launch/load_27x0_100.launch @@ -0,0 +1,3 @@ + + + diff --git a/micro_epsilon_scancontrol_support/launch/load_30x0_25.launch b/micro_epsilon_scancontrol_support/launch/load_30x0_25.launch new file mode 100644 index 0000000..fe5adbc --- /dev/null +++ b/micro_epsilon_scancontrol_support/launch/load_30x0_25.launch @@ -0,0 +1,3 @@ + + + diff --git a/micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch b/micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch new file mode 100644 index 0000000..e24a987 --- /dev/null +++ b/micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/micro_epsilon_scancontrol_support/launch/test_27x0_100.launch b/micro_epsilon_scancontrol_support/launch/test_27x0_100.launch new file mode 100644 index 0000000..e07a9c3 --- /dev/null +++ b/micro_epsilon_scancontrol_support/launch/test_27x0_100.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/micro_epsilon_scancontrol_support/launch/test_30x0_25.launch b/micro_epsilon_scancontrol_support/launch/test_30x0_25.launch new file mode 100644 index 0000000..60ea303 --- /dev/null +++ b/micro_epsilon_scancontrol_support/launch/test_30x0_25.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision.stl b/micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/collision/base_link.stl similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/collision/collision.stl rename to micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/collision/base_link.stl diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual.dae b/micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/visual/base_link.dae similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/visual/visual.dae rename to micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/visual/base_link.dae diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision_27x0_100.stl b/micro_epsilon_scancontrol_support/meshes/27x0_100/collision/base_link.stl similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/collision/collision_27x0_100.stl rename to micro_epsilon_scancontrol_support/meshes/27x0_100/collision/base_link.stl diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual_27x0_100.dae b/micro_epsilon_scancontrol_support/meshes/27x0_100/visual/base_link.dae similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/visual/visual_27x0_100.dae rename to micro_epsilon_scancontrol_support/meshes/27x0_100/visual/base_link.dae diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision_30xx_25.stl b/micro_epsilon_scancontrol_support/meshes/30x0_25/collision/base_link.stl similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/collision/collision_30xx_25.stl rename to micro_epsilon_scancontrol_support/meshes/30x0_25/collision/base_link.stl diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual_30xx_25.dae b/micro_epsilon_scancontrol_support/meshes/30x0_25/visual/base_link.dae similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/visual/visual_30xx_25.dae rename to micro_epsilon_scancontrol_support/meshes/30x0_25/visual/base_link.dae diff --git a/micro_epsilon_scancontrol_description/package.xml b/micro_epsilon_scancontrol_support/package.xml similarity index 91% rename from micro_epsilon_scancontrol_description/package.xml rename to micro_epsilon_scancontrol_support/package.xml index 4ed225f..d31f963 100644 --- a/micro_epsilon_scancontrol_description/package.xml +++ b/micro_epsilon_scancontrol_support/package.xml @@ -1,6 +1,6 @@ - micro_epsilon_scancontrol_description + micro_epsilon_scancontrol_support 0.1.0 URDFs for the Micro-Epsilon scanCONTROL laser profile sensors. Rik Tonnaer (Delft University of Technology) diff --git a/micro_epsilon_scancontrol_support/tests/roslaunch_test.xml b/micro_epsilon_scancontrol_support/tests/roslaunch_test.xml new file mode 100644 index 0000000..0e651e7 --- /dev/null +++ b/micro_epsilon_scancontrol_support/tests/roslaunch_test.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro new file mode 100644 index 0000000..85dcac2 --- /dev/null +++ b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro similarity index 73% rename from micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro rename to micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro index 1986fe0..e80eb4b 100644 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro +++ b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro @@ -2,12 +2,12 @@ - + - + @@ -16,7 +16,7 @@ - + diff --git a/micro_epsilon_scancontrol_support/urdf/27x0_100.xacro b/micro_epsilon_scancontrol_support/urdf/27x0_100.xacro new file mode 100644 index 0000000..59e0f8e --- /dev/null +++ b/micro_epsilon_scancontrol_support/urdf/27x0_100.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro b/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro similarity index 74% rename from micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro rename to micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro index 650e5d8..f1ebe73 100644 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro +++ b/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro @@ -2,12 +2,12 @@ - + - + @@ -16,7 +16,7 @@ - + diff --git a/micro_epsilon_scancontrol_support/urdf/30x0_25.xacro b/micro_epsilon_scancontrol_support/urdf/30x0_25.xacro new file mode 100644 index 0000000..3bac149 --- /dev/null +++ b/micro_epsilon_scancontrol_support/urdf/30x0_25.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro b/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro similarity index 77% rename from micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro rename to micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro index d2ef386..67d39f1 100644 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro +++ b/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro @@ -2,12 +2,12 @@ - + - + @@ -16,7 +16,7 @@ - + From 1104e791b8db5033aa3a56bee4ddf439db226175 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Mon, 21 Sep 2020 15:34:05 +0200 Subject: [PATCH 2/4] Update default frame_id and topic name --- README.md | 20 +++++++++---------- .../micro_epsilon_scancontrol_driver/driver.h | 4 ++-- .../urdf/26x0_29x0_25_macro.xacro | 6 +++--- .../urdf/27x0_100_macro.xacro | 6 +++--- .../urdf/30x0_25_macro.xacro | 6 +++--- 5 files changed, 21 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index 7caa940..db925dc 100644 --- a/README.md +++ b/README.md @@ -88,40 +88,40 @@ The scancontrol_driver_node connects to the scanCONTROL device and allows contro #### Published Topics -* **`/scancontrol_pointcloud`** ([sensor_msgs/PointCloud2]) +* **`profiles`** ([sensor_msgs/PointCloud2]) - The laser scan data filtered by the partial profile settings. The last point(s) may get lost, as a timestamp overwrites the last 4 bytes of the measurement buffer. + The laser scan data filtered by the partial profile settings. The last point(s) may get lost, as a timestamp overwrites the last 4 bytes of the measurement buffer. Use the `frame_id` parameter to change the name of the reference frame in which the data is published. #### Services Most servives are wrappers of the scanCONTROL API. For more information on the available settings and values see the documentation as part of the [scanCONTROL Linux C++ SDK 0.2](https://www.micro-epsilon.com/2D_3D/laser-scanner/Software/downloads/). The rqt plugin uses these services to change the settings during runtime. -* **`~set_feature`** ([micro_epsilon_scancontrol_msgs/SetFeature]) +* **`set_feature`** ([micro_epsilon_scancontrol_msgs/SetFeature]) Set a feature (setting) on the scanCONTROL device. -* **`~get_feature`** ([micro_epsilon_scancontrol_msgs/GetFeature]) +* **`get_feature`** ([micro_epsilon_scancontrol_msgs/GetFeature]) Get the current feature (setting) from the connected scanCONTROL device. -* **`~get_resolution`** ([micro_epsilon_scancontrol_msgs/GetResolution]) +* **`get_resolution`** ([micro_epsilon_scancontrol_msgs/GetResolution]) Get the current active resolution used by the connected scanCONTROL device. -* **`~set_resolution`** ([micro_epsilon_scancontrol_msgs/SetResolution]) +* **`set_resolution`** ([micro_epsilon_scancontrol_msgs/SetResolution]) Set the resultion of the connected scanCONTROL device. -* **`~get_available_resolutions`** ([micro_epsilon_scancontrol_msgs/GetAvailableResolutions]) +* **`get_available_resolutions`** ([micro_epsilon_scancontrol_msgs/GetAvailableResolutions]) Retrieve a list of all available resolutions of the connected scanCONTROL device. -* **`~invert_x`** ([std_srvs/SetBool]) +* **`invert_x`** ([std_srvs/SetBool]) Flip the X values around the middle of the laser line of the sensor. -* **`~invert_z`** ([std_srvs/SetBool] +* **`invert_z`** ([std_srvs/SetBool] Flip the Z values around the middle of the measuring range of the sensor. Factory default value of of this setting is `True`. @@ -141,7 +141,7 @@ The following parameters are available to allow using multiple scanCONTROL devic Define a custom name for the topic to publish the point cloud data on. -* **`frame_id`** (string, default: `scancontrol`) +* **`frame_id`** (string, default: `optical_frame`) Define a custom name for the measurement frame in which the point clouds are published. diff --git a/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h b/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h index 1c20975..06822a9 100644 --- a/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h +++ b/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h @@ -19,8 +19,8 @@ #define MAX_RESOLUTION_COUNT 6 #define GENERAL_FUNCTION_FAILED -1 -#define DEFAULT_FRAME_ID "scancontrol" -#define DEFAULT_TOPIC_NAME "scancontrol_pointcloud" +#define DEFAULT_FRAME_ID "optical_frame" +#define DEFAULT_TOPIC_NAME "profiles" typedef pcl::PointCloud point_cloud_t; diff --git a/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro index e80eb4b..ba38ff4 100644 --- a/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro +++ b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro @@ -21,12 +21,12 @@ - + - + - + diff --git a/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro b/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro index f1ebe73..04d2e36 100644 --- a/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro +++ b/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro @@ -21,12 +21,12 @@ - + - + - + diff --git a/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro b/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro index 67d39f1..b3b7dcf 100644 --- a/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro +++ b/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro @@ -21,14 +21,14 @@ - + - + - + From e6b1df2aeac32b3f349eb30156b9028c3887902c Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Mon, 21 Sep 2020 15:35:15 +0200 Subject: [PATCH 3/4] Support model selection and general update --- .../launch/test_driver.launch | 13 ++--- .../{rviz.rviz => test_driver_config.rviz} | 49 +++++++++++-------- 2 files changed, 36 insertions(+), 26 deletions(-) rename micro_epsilon_scancontrol_support/config/{rviz.rviz => test_driver_config.rviz} (77%) diff --git a/micro_epsilon_scancontrol_driver/launch/test_driver.launch b/micro_epsilon_scancontrol_driver/launch/test_driver.launch index 3d502e6..1ca2fe9 100644 --- a/micro_epsilon_scancontrol_driver/launch/test_driver.launch +++ b/micro_epsilon_scancontrol_driver/launch/test_driver.launch @@ -1,18 +1,19 @@ + - + - + + + - - - + - + \ No newline at end of file diff --git a/micro_epsilon_scancontrol_support/config/rviz.rviz b/micro_epsilon_scancontrol_support/config/test_driver_config.rviz similarity index 77% rename from micro_epsilon_scancontrol_support/config/rviz.rviz rename to micro_epsilon_scancontrol_support/config/test_driver_config.rviz index a604c76..7dc297f 100644 --- a/micro_epsilon_scancontrol_support/config/rviz.rviz +++ b/micro_epsilon_scancontrol_support/config/test_driver_config.rviz @@ -5,11 +5,9 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Status1 - - /TF1 - - /TF1/Frames1 + - /PointCloud21 Splitter Ratio: 0.5 - Tree Height: 815 + Tree Height: 796 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -18,7 +16,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 @@ -29,6 +27,10 @@ Panels: Name: Time SyncMode: 0 SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -38,7 +40,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -98,9 +100,9 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.009999999776482582 Style: Points - Topic: /profiles + Topic: /scancontrol/profiles Unreliable: false Use Fixed Frame: true Use rainbow: true @@ -109,9 +111,9 @@ Visualization Manager: Enabled: true Frame Timeout: 15 Frames: - All Enabled: false + All Enabled: true aperture_frame: - Value: false + Value: true base_link: Value: true Marker Scale: 0.5 @@ -128,6 +130,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 + Default Light: true Fixed Frame: base_link Frame Rate: 30 Name: root @@ -139,7 +142,10 @@ Visualization Manager: - 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 @@ -149,9 +155,9 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.29337 + Distance: 1.293370008468628 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false @@ -159,20 +165,23 @@ Visualization Manager: X: 0 Y: 0 Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.785398 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6203983426094055 Target Frame: base_link Value: Orbit (rviz) - Yaw: 0.785398 + Yaw: 5.783589839935303 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1028 + Height: 1025 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000003befc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003be000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003befc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000003be000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000013b000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b8000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -181,6 +190,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 960 - X: -10 - Y: 14 + Width: 1853 + X: 67 + Y: 27 From cdd39cc6dc0818c73989b85e55e34e17f8a81a88 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Fri, 16 Oct 2020 09:24:27 +0200 Subject: [PATCH 4/4] String find bug fixes --- micro_epsilon_scancontrol_driver/src/driver.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/micro_epsilon_scancontrol_driver/src/driver.cpp b/micro_epsilon_scancontrol_driver/src/driver.cpp index af2dcac..03c1cba 100644 --- a/micro_epsilon_scancontrol_driver/src/driver.cpp +++ b/micro_epsilon_scancontrol_driver/src/driver.cpp @@ -64,7 +64,7 @@ namespace scancontrol_driver // Check if the available device is the same as the prefered device (if a serial is provided): std::string interface(available_interfaces[0]); - if ((config_.serial == "") || (interface.find(config_.serial) > -1)){ + if ((config_.serial == "") || (interface.find(config_.serial) != std::string::npos)){ ROS_INFO_STREAM("Interface found: " << interface); } else{ @@ -78,7 +78,7 @@ namespace scancontrol_driver if (config_.serial != ""){ for (int i = 0; i < interface_count; i++){ std::string interface(available_interfaces[i]); - if (interface.find(config_.serial) > -1){ + if (interface.find(config_.serial) != std::string::npos){ ROS_INFO_STREAM("Interface found: " << interface); selected_interface = i; break; @@ -163,7 +163,7 @@ namespace scancontrol_driver gint8 selected_resolution = -1; for (int i = 0; i < return_code; i++){ std::string resolution = std::to_string(available_resolutions[i]); - if (resolution.find(config_.serial) > -1){ + if (resolution.find(config_.resolution) != std::string::npos){ selected_resolution = i; break; }