Update ROS2 demos for Mulran replay

MOLAorg · Nov 26, 2024 · c41e1d1 · c41e1d1
1 parent de3bb30
commit c41e1d1
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Showing 2 changed files with 26 additions and 10 deletions.
diff --git a/mola_demos/mola-cli-launchs/mulran_just_replay_to_ros2.yaml b/mola_demos/mola-cli-launchs/mulran_just_replay_to_ros2.yaml
@@ -20,13 +20,18 @@ modules:
       - raw_sensor_label: gps
         decimation: 1
         win_pos: 5 400 400 400
+      - raw_sensor_label: imu
+        decimation: 10
+        win_pos: 5 550 400 400
     params:
       base_dir: ${MULRAN_BASE_DIR}
       sequence: ${MULRAN_SEQ}
       time_warp_scale: 1.0
       start_paused: ${MOLA_DATASET_START_PAUSED|false}
       publish_lidar: true
       publish_ground_truth: true
+      publish_imu: true
+      publish_gps: true
       #lidar_to_ground_truth_1to1: false
 
 # MOLA -> ROS 2 bridge  =====================
@@ -40,7 +45,7 @@ modules:
       # it will be forwarded to /tf as a transformation between: 
       # `reference_frame` -> `base_link_frame`
       base_link_frame: base_link
-      reference_frame: odom
+      reference_frame: map
 
       # If true, an nav_msgs/Odometry message will be also published
       # 

diff --git a/mola_demos/rviz2/mulran.rviz b/mola_demos/rviz2/mulran.rviz
@@ -55,11 +55,9 @@ Visualization Manager:
           Value: true
         gps:
           Value: true
-        lidar:
-          Value: true
-        map:
+        imu:
           Value: true
-        odom:
+        lidar:
           Value: true
       Marker Scale: 1
       Name: TF
@@ -70,10 +68,9 @@ Visualization Manager:
         base_link:
           gps:
             {}
-          lidar:
+          imu:
             {}
-        map:
-          odom:
+          lidar:
             {}
       Update Interval: 0
       Value: true
@@ -235,10 +232,24 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /pf_pose
       Value: true
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /imu
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -318,4 +329,4 @@ Window Geometry:
     collapsed: true
   Width: 1850
   X: 70
-  Y: 534
+  Y: 27