Initial Jazzy implementation (#9)

* Change default fixed frame to odom instead of map, turn off the tf visualization by default * Revert "Change default fixed frame to odom instead of map, turn off the tf visualization by default" This reverts commit 0f7b641. * Separate model-view & navigation-view into separate launch files. Start updating the rviz parameters * Update the model rviz config * Update the navigation view; add the map layer, set fixed frame to odom, set camera to top-down ortho * Add tf to the left-side menu * Remove the model parameter from the navigation viewer * Remove the Nav2 plugin from view_robot, add to view_navigation * Remove navigation-oriented plugins from view_robot * Revert to the old navigation viz setup; hide TF by default to make things less cluttered * Update github CI, issue templates * Linter fixes
turtlebot · Sep 3, 2024 · e718bad · e718bad
1 parent 149d973
commit e718bad
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diff --git a/.github/ISSUE_TEMPLATE/1-bug.yml b/.github/ISSUE_TEMPLATE/1-bug.yml
@@ -30,6 +30,7 @@ body:
         - Select One
         - Galactic
         - Humble
+        - Jazzy
     validations:
       required: true
   - type: dropdown
@@ -52,6 +53,7 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
+        - Ubuntu 24.04
         - Other Linux
         - Windows / MAC
     validations:

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -3,18 +3,18 @@ name: turtlebot4_desktop_ci
 on: [push, pull_request]
 
 jobs:
-  turtlebot4_humble_ci:
-    name: Humble
-    runs-on: ubuntu-22.04
+  turtlebot4_jazzy_ci:
+    name: Jazzy
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/[email protected]
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
       - uses: ros-tooling/[email protected]
         id: action_ros_ci_step
         with:
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           import-token: ${{ secrets.GITHUB_TOKEN }}
           package-name:
             turtlebot4_viz
diff --git a/turtlebot4_viz/launch/view_model.launch.py b/turtlebot4_viz/launch/view_model.launch.py
@@ -19,23 +19,13 @@
 from launch import LaunchDescription
 from launch.actions import (DeclareLaunchArgument, GroupAction,
                             IncludeLaunchDescription, TimerAction)
-from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 
 from launch_ros.actions import Node, PushRosNamespace
 
 
 ARGUMENTS = [
-    DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='false',
-        description='Use simulation (Gazebo) clock if true'),
-    DeclareLaunchArgument(
-        'description',
-        default_value='false',
-        description='Launch turtlebot4 description'
-    ),
     DeclareLaunchArgument(
         'model',
         default_value='standard',
@@ -70,7 +60,6 @@ def generate_launch_description():
              executable='rviz2',
              name='rviz2',
              arguments=['-d', rviz2_config],
-             parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
              remappings=[
                 ('/tf', 'tf'),
                 ('/tf_static', 'tf_static')
@@ -84,8 +73,7 @@ def generate_launch_description():
             actions=[
                 IncludeLaunchDescription(
                     PythonLaunchDescriptionSource([description_launch]),
-                    launch_arguments=[('model', LaunchConfiguration('model'))],
-                    condition=IfCondition(LaunchConfiguration('description'))
+                    launch_arguments=[('model', LaunchConfiguration('model'))]
                 )])
     ])
 

diff --git a/turtlebot4_viz/launch/view_navigation.launch.py b/turtlebot4_viz/launch/view_navigation.launch.py
@@ -0,0 +1,65 @@
+# Copyright 2021 Clearpath Robotics, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# @author Roni Kreinin ([email protected])
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node, PushRosNamespace
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true'),
+    DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Robot namespace'
+    ),
+]
+
+
+def generate_launch_description():
+
+    pkg_turtlebot4_viz = get_package_share_directory('turtlebot4_viz')
+
+    rviz2_config = PathJoinSubstitution(
+        [pkg_turtlebot4_viz, 'rviz', 'navigation.rviz'])
+
+    namespace = LaunchConfiguration('namespace')
+
+    rviz = GroupAction([
+        PushRosNamespace(namespace),
+
+        Node(package='rviz2',
+             executable='rviz2',
+             name='rviz2',
+             arguments=['-d', rviz2_config],
+             parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
+             remappings=[
+                ('/tf', 'tf'),
+                ('/tf_static', 'tf_static')
+             ],
+             output='screen'),
+    ])
+
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(rviz)
+    return ld
diff --git a/turtlebot4_viz/rviz/model.rviz b/turtlebot4_viz/rviz/model.rviz
@@ -6,9 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Camera1/Status1
+        - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 858
+    Tree Height: 707
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -75,7 +75,6 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         bump_front_left:
           Alpha: 1
           Show Axes: false
@@ -92,6 +91,11 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        bumper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         button_1:
           Alpha: 1
           Show Axes: false
@@ -200,16 +204,44 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        oakd_pro_camera_bracket:
+        oakd_camera_bracket:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        oakd_pro_link:
+        oakd_imu_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        oakd_left_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        oakd_left_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        oakd_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        oakd_rgb_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        oakd_rgb_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        oakd_right_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        oakd_right_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         rear_left_tower_standoff:
           Alpha: 1
           Show Axes: false
@@ -248,64 +280,30 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: ""
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: ""
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: scan
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz_default_plugins/Camera
-      Enabled: true
-      Image Rendering: background and overlay
-      Name: Camera
-      Overlay Alpha: 0.5
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: oakd/rgb/preview/image_raw
-      Value: true
-      Visibility:
-        Grid: true
-        LaserScan: true
-        RobotModel: true
-        Value: true
-      Zoom Factor: 1
+    - Class: rviz_default_plugins/TF
+      Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -359,28 +357,26 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.10681091248989105
-        Y: 0.2192116379737854
-        Z: 0.18405461311340332
+        X: 0.14244304597377777
+        Y: 0.1743910163640976
+        Z: 0.19199013710021973
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.3203987181186676
+      Pitch: 0.30539873242378235
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.9403871297836304
+      Yaw: 0.7153873443603516
     Saved: ~
 Window Geometry:
-  Camera:
-    collapsed: false
   Displays:
     collapsed: false
-  Height: 1376
+  Height: 1011
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000004c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003e5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000428000000d70000002800ffffff000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b8000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000747000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000351000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002fb000000950000000000000000000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000351000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006501000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cd0000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -389,6 +385,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 2488
-  X: 72
-  Y: 27
+  Width: 1854
+  X: 66
+  Y: 32