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osrf / vorc

Virtual Ocean Robot Challenge (VORC) resources
Apache License 2.0
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Fix frame prefixes #10

Closed mabelzhang closed 3 years ago

mabelzhang commented 3 years ago

Fixes #8

The errors in the display of RobotModel in RViz were fixed with TF Prefix field set to cora. RViz config has been updated with this setting.

The utm and wamv/odom errors disappeared after replacing the instances of wamv in localization_example.launch with cora. (Sorry I rushed a bit in my review of that PR and didn't see these.)

This is the default RViz display now. RobotModel and TF show up correctly wrt global fixed frame cora/base_link, and no errors: Screenshot from 2020-10-09 23-33-52

Don't worry about the sensors not being visible - they need to be lifted +1 in z after the hydroparameters needed to lift the robot body by 1. The sensors are lifted in #6.

Test with:

$ roslaunch vorc_gazebo marina.launch 
$ roslaunch vorc_gazebo localization_example.launch 
$ roslaunch vorc_gazebo rviz.launch

The only thing is that I get a bunch of timestamp warnings printed from localization_example.launch:

[ WARN] [1602299727.265646216, 6.738000000]: Transform from cora/gps_link to cora/base_link was unavailable for the time requested. Using latest instead.
[ WARN] [1602299728.661596365, 8.133000000]: Transform from cora/imu_link to cora/base_link was unavailable for the time requested. Using latest instead.

I think that is normal, because I get them when I run the VRX counterparts too:

$ roslaunch vrx_gazebo vrx.launch
$ roslaunch wamv_gazebo rviz_example.launch 
$ roslaunch wamv_gazebo localization_example.launch 
[...]
[ WARN] [1602299989.014063719, 30.687000000]: Transform from wamv/gps_wamv_link to wamv/base_link was unavailable for the time requested. Using latest instead.
[ WARN] [1602299990.195272106, 31.867000000]: Transform from wamv/imu_wamv_link to wamv/base_link was unavailable for the time requested. Using latest instead.