Update auto2024.launch.py and package.xml***

***Update auto2024.launch.py to include new imports and parameters. Update package.xml to add new dependencies.

auto_driver_bringup/launch/auto2024.launch.py

@@ -1,10 +1,23 @@
+from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch_ros.actions import Node
+
+import os
+import xacro
 
 def generate_launch_description():
+    robot_name = "auto_driver"
+    package_name = robot_name + "_description"
+    rviz_config = os.path.join(get_package_share_directory(
+        package_name), "launch", robot_name + ".rviz")
+    robot_description = os.path.join(get_package_share_directory(
+        package_name), "urdf", robot_name + ".urdf.xacro")
+    robot_description_config = xacro.process_file(robot_description)
+
     return launch.LaunchDescription([
         ComposableNodeContainer(
             name='auto_driver_interface',
@@ -19,7 +32,7 @@ def generate_launch_description():
                     namespace='can_node/gm6020_0',
                     parameters=[
                         {'p': 50},
-                        {'i': 30},
+                        {'i': 10},
                         {'d': 5},
                         {'max_spd': 8000},
                         {'init_deg': 120},
@@ -34,8 +47,8 @@ def generate_launch_description():
                     name='yaw_motor',
                     namespace='can_node/gm6020_1',
                     parameters=[
-                        {'p': 100},
-                        {'i': 30},
+                        {'p': 50},
+                        {'i': 10},
                         {'d': 5},
                         {'max_spd': 8000},
                         {'init_deg': 180},
@@ -74,13 +87,14 @@ def generate_launch_description():
                     name='topic_to_tf_base_to_tf0',
                     namespace='can_node/gm6020_1',
                     parameters=[
-                        {'center_offset': -90.0},
-                        {'from_frame_id': 'base_link'},
-                        {'to_frame_id': 'tf0'},
+                        {'center_offset': -180.0},
+                        {'from_frame_id': 'fake_1_to_2'},
+                        {'to_frame_id': 'yaw_link'},
                         {'target_angle_axis': "yaw"},
                         {'offset_x': 0.0},
                         {'offset_y': 0.0},
-                        {'offset_z': 0.0}
+                        {'offset_z': 0.0},
+                        {'invert_degree': False}
                     ]
                 ),
                 ComposableNode(
@@ -89,15 +103,31 @@ def generate_launch_description():
                     name='topic_to_tf_tf0_to_tf1',
                     namespace='can_node/gm6020_0',
                     parameters=[
-                        {'center_offset': -180.0},
-                        {'from_frame_id': 'tf0'},
-                        {'to_frame_id': 'tf1'},
-                        {'target_angle_axis': "pitch"},
+                        {'center_offset': -120.0},
+                        {'from_frame_id': 'fake_2_to_3'},
+                        {'to_frame_id': 'pitch_link'},
+                        {'target_angle_axis': "roll"},
                         {'offset_x': 0.0},
                         {'offset_y': 0.0},
-                        {'offset_z': 0.15}
+                        {'offset_z': 0.0},
+                        {'invert_degree': True}
                     ]
-                ),
+                )
             ],
+        ),
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            name="robot_state_publisher",
+            parameters=[
+                {"robot_description": robot_description_config.toxml()}],
+            output="screen",
+        ),
+        Node(
+            package="rviz2",
+            executable="rviz2",
+            name="rviz2",
+            arguments=["-d", rviz_config],
+            output="screen",
         )
     ])

auto_driver_bringup/package.xml

@@ -13,6 +13,11 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

auto_driver_description/urdf/auto_driver.urdf.xacro

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot name="auto_driver" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find auto_driver_description)/urdf/auto_driver.xacro" />
-  <xacro:include filename="$(find auto_driver_description)/urdf/auto_driver.ros2_control.xacro" />
+  <!-- <xacro:include filename="$(find auto_driver_description)/urdf/auto_driver.ros2_control.xacro" /> -->
 
   <link name="world"/>
 
   <xacro:auto_driver parent="world">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:auto_driver>
 
-  <xacro:auto_driver_ros2_control name="auto_driver_ros2_control" />
+  <!-- <xacro:auto_driver_ros2_control name="auto_driver_ros2_control" /> -->
 </robot>

auto_driver_description/urdf/auto_driver.xacro

@@ -41,7 +41,7 @@
   <joint name="fake_1_to_2_joint" type="fixed">
     <parent link="base_frame" />
     <child link="fake_1_to_2" />
-    <origin xyz="0 0 0.18" rpy="0 0 0" />
+    <origin xyz="0 0 0.18" rpy="0 0 -1.57079632679" />
   </joint>
 
 
@@ -82,12 +82,12 @@
   <joint name="fake_2_to_3_joint" type="fixed">
     <parent link="yaw_link" />
     <child link="fake_2_to_3" />
-    <origin xyz="0 0 0" rpy="-1.57079632679 0 0" />
+    <origin xyz="0 0 0.19" rpy="0 0 0" />
   </joint>
 
   <link name="pitch_link">
     <visual>
-      <origin xyz="0 0 0.019" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.19" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://auto_driver_description/meshes/gimbal_pitch_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -114,7 +114,7 @@
     <parent link="fake_2_to_3"/>
     <child link="pitch_link"/>
     <origin xyz="0.0 0.0 0.005" rpy="0 0 0"/>
-    <axis xyz="1 0 0"/>
+    <axis xyz="-1 0 0"/>
     <limit velocity="4.8" effort="1" lower="0.0" upper="2.0" />
   </joint>