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Linorobot2 Jazzy Updates #186

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Merged
grassjelly merged 3 commits into from
Sep 28, 2025
Merged

Linorobot2 Jazzy Updates #186

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ec450be
remove unsupported jazzy gz_frame_id for imu & depth
Sep 21, 2025
e341dde
initialize pose config parameters in navigation & slam launch files
Sep 21, 2025
f5b0006
set the linorobot pose identical to gazebo and navigation rviz config
Sep 21, 2025
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1 change: 0 additions & 1 deletion linorobot2_description/urdf/sensors/depth_sensor.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,6 @@
<gazebo reference="camera_link">
<sensor name="camera" type="rgbd_camera">
<topic>camera</topic>
<gz_frame_id>camera_link</gz_frame_id>
<update_rate>30.0</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
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1 change: 0 additions & 1 deletion linorobot2_description/urdf/sensors/imu.urdf.xacro
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Expand Up @@ -16,7 +16,6 @@
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<topic>imu/data</topic>
<gz_frame_id>imu_link</gz_frame_id>
<update_rate>50</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
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23 changes: 22 additions & 1 deletion linorobot2_navigation/launch/navigation.launch.py
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Expand Up @@ -61,12 +61,33 @@ def generate_launch_description():
description='Navigation map path'
),

DeclareLaunchArgument(
name='initial_pose_x',
default_value='0.5',
description='Initial robot X position'
),

DeclareLaunchArgument(
name='initial_pose_y',
default_value='0.0',
description='Initial robot Y position'
),

DeclareLaunchArgument(
name='initial_pose_yaw',
default_value='0.0',
description='Initial robot yaw'
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(nav2_launch_path),
launch_arguments={
'map': LaunchConfiguration("map"),
'use_sim_time': LaunchConfiguration("sim"),
'params_file': nav2_config_path
'params_file': nav2_config_path,
'initial_pose_x': LaunchConfiguration('initial_pose_x'),
'initial_pose_y': LaunchConfiguration('initial_pose_y'),
'initial_pose_yaw': LaunchConfiguration('initial_pose_yaw')
}.items()
),

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35 changes: 28 additions & 7 deletions linorobot2_navigation/launch/slam.launch.py
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Expand Up @@ -63,20 +63,41 @@ def generate_launch_description():
default_value='false',
description='Run rviz'
),
DeclareLaunchArgument(
name='initial_pose_x',
default_value='0.5',
description='Initial robot X position'
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(navigation_launch_path),
launch_arguments={
'use_sim_time': LaunchConfiguration("sim"),
'params_file': nav2_config_path
}.items()
DeclareLaunchArgument(
name='initial_pose_y',
default_value='0.0',
description='Initial robot Y position'
),

DeclareLaunchArgument(
name='initial_pose_yaw',
default_value='0.0',
description='Initial robot yaw'
),

# IncludeLaunchDescription(
# PythonLaunchDescriptionSource(navigation_launch_path),
# launch_arguments={
# 'use_sim_time': LaunchConfiguration("sim"),
# 'params_file': nav2_config_path
# }.items()
# ),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(slam_launch_path),
launch_arguments={
'use_sim_time': LaunchConfiguration("sim"),
slam_param_name: slam_config_path
slam_param_name: slam_config_path,
# Pass the initial pose to slam_toolbox
'initial_pose_x': LaunchConfiguration('initial_pose_x'),
'initial_pose_y': LaunchConfiguration('initial_pose_y'),
'initial_pose_yaw': LaunchConfiguration('initial_pose_yaw')
}.items()
),

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2 changes: 1 addition & 1 deletion linorobot2_navigation/rviz/linorobot2_slam.rviz
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Expand Up @@ -256,7 +256,7 @@ Visualization Manager:
Value: true
Views:
Current:
Angle: 0
Angle: -1.5599987506866455
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
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