From 4607aa47066ccdbbc6e53485110344068981f8b5 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Sun, 3 Mar 2024 10:49:54 +0100 Subject: [PATCH 1/3] Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1 --- mvsim_node_src/mvsim_node.cpp | 12 +++--- mvsim_tutorial/demo_warehouse_ros1.rviz | 54 ++++++++++++------------- 2 files changed, 31 insertions(+), 35 deletions(-) diff --git a/mvsim_node_src/mvsim_node.cpp b/mvsim_node_src/mvsim_node.cpp index de33ed80..093ad522 100644 --- a/mvsim_node_src/mvsim_node.cpp +++ b/mvsim_node_src/mvsim_node.cpp @@ -68,6 +68,12 @@ using Msg_TransformStamped = geometry_msgs::TransformStamped; #include #endif +// usings: +using Msg_OccupancyGrid = nav_msgs::msg::OccupancyGrid; +using Msg_MapMetaData = nav_msgs::msg::MapMetaData; +using Msg_TransformStamped = geometry_msgs::msg::TransformStamped; +#endif + #if MRPT_VERSION >= 0x020b04 // >=2.11.4? #define HAVE_POINTS_XYZIRT #endif @@ -76,12 +82,6 @@ using Msg_TransformStamped = geometry_msgs::TransformStamped; #include #endif -// usings: -using Msg_OccupancyGrid = nav_msgs::msg::OccupancyGrid; -using Msg_MapMetaData = nav_msgs::msg::MapMetaData; -using Msg_TransformStamped = geometry_msgs::msg::TransformStamped; -#endif - #include #include diff --git a/mvsim_tutorial/demo_warehouse_ros1.rviz b/mvsim_tutorial/demo_warehouse_ros1.rviz index 42f88763..c0fd5869 100644 --- a/mvsim_tutorial/demo_warehouse_ros1.rviz +++ b/mvsim_tutorial/demo_warehouse_ros1.rviz @@ -8,7 +8,6 @@ Panels: - /Status1 - /TF1/Frames1 - /TF1/Tree1 - - /Image1 Splitter Ratio: 0.6176469922065735 Tree Height: 274 - Class: rviz/Selection @@ -28,7 +27,7 @@ Panels: - Class: rviz/Time Name: Time SyncMode: 0 - SyncSource: PointCloud2 + SyncSource: Raw Lidar Points - Class: rviz_plugin_tutorials/Teleop Name: Teleop Topic: /cmd_vel @@ -78,8 +77,6 @@ Visualization Manager: Value: true scanner1: Value: true - world: - Value: true Marker Alpha: 1 Marker Scale: 0.4000000059604645 Name: TF @@ -87,18 +84,17 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - world: - map: - odom: - base_link: - base_footprint: - {} - cam1: - {} - lidar1_points: - {} - scanner1: - {} + map: + odom: + base_link: + base_footprint: + {} + cam1: + {} + lidar1_points: + {} + scanner1: + {} Update Interval: 0 Value: true - Class: rviz/MarkerArray @@ -155,7 +151,7 @@ Visualization Manager: Min Value: -10 Value: true Axis: Z - Channel Name: intensity + Channel Name: ring Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity @@ -164,12 +160,12 @@ Visualization Manager: Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 - Name: PointCloud2 + Name: Raw Lidar Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.009999999776482582 + Size (m): 0.029999999329447746 Style: Flat Squares Topic: /lidar1_points Unreliable: false @@ -182,7 +178,7 @@ Visualization Manager: Max Value: 1 Median window: 5 Min Value: 0 - Name: Image + Name: Camera Normalize Range: true Queue Size: 2 Transport Hint: raw @@ -216,7 +212,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 16.860950469970703 + Distance: 16.988401412963867 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -232,19 +228,19 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6547970771789551 + Pitch: 0.5597972273826599 Target Frame: - Yaw: 2.675391912460327 + Yaw: 2.6403937339782715 Saved: ~ Window Geometry: + Camera: + collapsed: false Displays: collapsed: false Height: 876 Hide Left Dock: false Hide Right Dock: true - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000178000002cefc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f00700100000192000000ee0000004700fffffffb0000000c00540065006c0065006f00700000000260000000aa0000000000000000fb0000000c00540065006c0065006f0070010000020f000000fb0000000000000000fb0000000a0049006d0061006700650100000286000000850000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003efc0100000002fb0000000800540069006d00650100000000000005ff000003cc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000481000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000178000002cefc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001fb00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f00700100000192000000ee0000004700fffffffb0000000c00540065006c0065006f00700000000260000000aa0000000000000000fb0000000c00540065006c0065006f0070010000020f000000fb0000000000000000fb0000000c00430061006d0065007200610100000286000000850000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004380000003efc0100000002fb0000000800540069006d0065010000000000000438000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000002ba000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Teleop: @@ -255,6 +251,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1535 - X: 1990 - Y: 27 + Width: 1080 + X: 1920 + Y: 0 From a339b58897ec628d0b04a8e5503c7d56f99c658f Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Tue, 5 Mar 2024 07:26:57 +0100 Subject: [PATCH 2/3] changelog --- CHANGELOG.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 714e2230..4ec97a37 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mvsim ^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1 +* Contributors: Jose Luis Blanco-Claraco + 0.9.0 (2024-03-02) ------------------ * Do not publish tf world->map From b27a28a4e44bccb315d86853c036d1ccfc0d6030 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Tue, 5 Mar 2024 07:27:24 +0100 Subject: [PATCH 3/3] 0.9.1 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 4ec97a37..6b21a078 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package mvsim ^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.9.1 (2024-03-05) +------------------ * Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1 * Contributors: Jose Luis Blanco-Claraco diff --git a/package.xml b/package.xml index c098ac8d..26d0ffff 100644 --- a/package.xml +++ b/package.xml @@ -5,7 +5,7 @@ A lightweight multivehicle simulation framework. - 0.9.0 + 0.9.1 Jose-Luis Blanco-Claraco BSD