Humble

config/main.rviz

@@ -4,9 +4,13 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /LaserScan1
+        - /LaserScan1/Topic1
         - /Camera1/Visibility1
+        - /Map1
+        - /Map1/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 520
+    Tree Height: 543
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -46,6 +50,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        base_footprint:
+          Value: true
         base_link:
           Value: true
         camera_link:
@@ -74,6 +80,8 @@ Visualization Manager:
       Tree:
         odom:
           base_link:
+            base_footprint:
+              {}
             chassis:
               camera_link:
                 camera_link_optical:
@@ -108,6 +116,10 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         base_link:
           Alpha: 1
           Show Axes: false
@@ -151,6 +163,9 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -182,15 +197,17 @@ Visualization Manager:
       Style: Flat Squares
       Topic:
         Depth: 5
-        Durability Policy: Volatile
+        Durability Policy: Transient Local
+        Filter size: 10
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
     - Class: rviz_default_plugins/Camera
       Enabled: true
+      Far Plane Distance: 100
       Image Rendering: background and overlay
       Name: Camera
       Overlay Alpha: 0.5
@@ -204,10 +221,32 @@ Visualization Manager:
       Visibility:
         Grid: true
         LaserScan: true
+        Map: true
         RobotModel: false
         TF: false
         Value: true
       Zoom Factor: 1
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -223,6 +262,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -251,7 +293,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 5.735118865966797
+      Distance: 2.1972548961639404
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -266,26 +308,26 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.32979676127433777
+      Pitch: 0.22979654371738434
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.1385817527771
+      Yaw: 1.590415358543396
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 996
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000385fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000297000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002de000000e80000002800ffffff000000010000010f00000386fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000386000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000060e0000038500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002aa000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002ed000000ee0000002800ffffff000000010000010f00000386fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000386000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005ca0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1918
-  X: 0
-  Y: 28
+  Width: 1850
+  X: 70
+  Y: 27

config/my_controllers.yaml

@@ -15,7 +15,8 @@ diff_cont:
     publish_rate: 50.0
 
     base_frame_id: base_link
-
+
+
     left_wheel_names: ['left_wheel_joint']
     right_wheel_names: ['right_wheel_joint']
     wheel_separation: 0.297