bringup rviz

current rviz config is not supported in ROS2
PepperlFuchs · Jun 9, 2022 · d01c6d1 · d01c6d1
1 parent 64c4d08
commit d01c6d1
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Showing 4 changed files with 12 additions and 0 deletions.
diff --git a/pf_description/launch/pf_bringup.launch.py b/pf_description/launch/pf_bringup.launch.py
@@ -14,14 +14,25 @@ def launch_setup(context, *args, **kwargs):
         package=package_name).find(package_name)
     scanner_description_path = os.path.join(
         pkg_share, 'urdf', scanner_arg + '_world.urdf.xacro')
+    rviz_config_path = os.path.join(pkg_share, 'config', scanner_arg + '.rviz')
 
     robot_state_publisher_node = launch_ros.actions.Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
+        output='screen',
         parameters=[{'robot_description': Command(
             ['xacro ', scanner_description_path])}]
     )
 
+    rviz2_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d' + rviz_config_path],
+    )
+
+    return [robot_state_publisher_node, rviz2_node]
+
 
 def generate_launch_description():
     return launch.LaunchDescription([

diff --git a/pf_driver/rviz/r2000.rviz → pf_description/rviz/r2000.rviz b/pf_driver/rviz/r2000.rviz → pf_description/rviz/r2000.rviz
diff --git a/pf_driver/rviz/r2300.rviz → pf_description/rviz/r2300.rviz b/pf_driver/rviz/r2300.rviz → pf_description/rviz/r2300.rviz
diff --git a/pf_description/setup.py b/pf_description/setup.py
@@ -14,6 +14,7 @@
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob('launch/*')),
         (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
+        (os.path.join('share', package_name, 'rviz'), glob('rviz/*')),
         (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
     ],
     install_requires=['setuptools'],