Update for ROSControllerItem

README.md

@@ -3,6 +3,41 @@
 
 This package contains the package for ROS integrated Choreonoid Tank model.
 
-# Manual
-The manual is set on .  
-Please visit there if you have an interests.
+# Dependencies
+- [choreonoid:master](https://github.com/choreonoid/choreonoid)
+- [choreonoid_ros:dev/ros-control](https://github.com/RyodoTanaka/choreonoid_ros/tree/dev/ros-control)  
+  The pull request is on : https://github.com/choreonoid/choreonoid_ros/pull/5
+- [rtf_test_plant:master](https://github.com/choreonoid/rtf-test-plant)
+
+# Install
+```bash
+mkdir <cnoid_ws>/src -p
+cd <cnoid_ws>/src
+git clone --recursive https://github.com/choreonoid/choreonoid.git
+git clone --recursive -b dev/ros-control https://github.com/RyodoTanaka/choreonoid_ros.git
+git clone --recursive https://github.com/choreonoid/rtf-test-plant.git
+# Above 3 git clone commands will be replaced with vcs commands, after marging the PR for choreonoid_ros
+git clone --recursive -b dev/launch-update https://github.com/RyodoTanaka/cnoid_tank_pkgs.git
+cd <cnoid_ws>
+rosdep update
+rosdep install -i -y -r --from-paths src
+catkin config --cmake-args -DBUILD_SCENE_EFFECTS_PLUGIN=ON -DBUILD_WRS2018=ON -DBUILD_ROS_TANK=ON -DUSE_PYTHON3=OFF -DUSE_PYBIND11=ON -DBUILD_PYTHON_PLUGIN=ON -DBUILD_PYTHON_SIM_SCRIPT_PLUGIN=ON -DENABLE_PYTHON=ON -DBUILD_COLLISION_HANDLER_SAMPLE=ON -DBUILD_CONTACT_FORCE_EXTRACTION=ON -DBUILD_TRACKED_VEHICLE_SAMPLE=ON -DCMAKE_BUILD_TYPE=Release
+catkin build
+source devel/setup.bash
+```
+
+# Execute
+## 1. Launch Choreonoid
+```bash
+cd <cnoid_ws>
+source devel/setup.bash
+roslaunch cnoid_tank_bringup choreonoid.launch
+```
+
+## 2. Launch Rviz
+After pushing the start button on choreonoid GUI, launch following.
+```bash
+cd <cnoid_ws>
+source devel/setup.bash
+roslaunch cnoid_tank_bringup display.launch
+```

cnoid_tank_bringup/launch/choreonoid.launch

@@ -0,0 +1,12 @@
+<launch>
+  <arg name="project_file" default="Labo/Tank.cnoid"/>
+  <!-- <arg name="project_file" default="RTFPlant/Tank.cnoid"/> -->
+
+  <!-- Choreonoid ROS -->
+  <include file="$(find choreonoid_ros)/launch/choreonoid.launch">
+    <arg name="choreonoid_arg" value="$(find cnoid_tank_bringup)/project/$(arg project_file)"/>
+  </include>
+
+  <!-- ROS Control -->
+  <include file="$(find cnoid_tank_control)/launch/control.launch"/>
+</launch>

cnoid_tank_bringup/launch/config/display.rviz

@@ -4,6 +4,8 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /Global Options1
+        - /PointCloud1
         - /TF1/Frames1
       Splitter Ratio: 0.5
     Tree Height: 343
@@ -57,6 +59,16 @@ Visualization Manager:
       Enabled: true
       Links:
         All Links Enabled: true
+        BELT_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        BELT_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         CHASSIS:
           Alpha: 1
           Show Axes: false
@@ -79,12 +91,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         TRACK_R:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         TURRET_P:
           Alpha: 1
           Show Axes: false
@@ -180,8 +190,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 3.8823349475860596
-        Min Value: -0.06849011778831482
+        Max Value: 2.167870283126831
+        Min Value: -0.11658307909965515
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -200,7 +210,7 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.02500000037252903
+      Size (m): 0.014999999664723873
       Style: Spheres
       Topic: /Tank/VLP_16/point_cloud
       Unreliable: false
@@ -212,6 +222,10 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        BELT_L:
+          Value: true
+        BELT_R:
+          Value: true
         CHASSIS:
           Value: true
         Kinect:
@@ -255,20 +269,24 @@ Visualization Manager:
         base_footprint:
           base_link:
             CHASSIS:
-              TRACK_L:
+              BELT_L:
                 WHEEL_L0:
                   {}
                 WHEEL_L1:
                   {}
                 WHEEL_L2:
                   {}
-              TRACK_R:
+              BELT_R:
                 WHEEL_R0:
                   {}
                 WHEEL_R1:
                   {}
                 WHEEL_R2:
                   {}
+              TRACK_L:
+                {}
+              TRACK_R:
+                {}
               TURRET_Y:
                 TURRET_P:
                   Kinect_base:
@@ -319,25 +337,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 6.386270046234131
+      Distance: 6.663640022277832
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.3527833223342896
-        Y: -0.5720024704933167
-        Z: 1.1856696605682373
+        X: 1.02006196975708
+        Y: 0.2568424642086029
+        Z: 0.8462594747543335
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.44979730248451233
+      Pitch: 0.2697976529598236
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.473592519760132
+      Yaw: 3.5236003398895264
     Saved: ~
 Window Geometry:
   Displays:

cnoid_tank_bringup/launch/display.launch

@@ -1,4 +1,3 @@
 <launch>
-  <arg name="rviz_config" default="$(find cnoid_tank_bringup)/launch/config/display.rviz"/>
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cnoid_tank_bringup)/launch/config/display.rviz"/>
 </launch>