n.71 可视化影像数据（ros2）rviz

1.创建工作区

ros2 pkg create my_package --build-type ament_cmake --dependencies rclcpp

然后创建一个launch文件夹，内部导入simulation.launch.py的launch.py启动文件

# Copyright 2019 Louise Poubel
#
# 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.

"""Launch Gazebo with a world that has Dolly, as well as the follow node."""

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.substitutions import ThisLaunchFileDir


def generate_launch_description():

    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
    pkg_dolly_gazebo = get_package_share_directory('dolly_gazebo')
    pkg_my_package = get_package_share_directory('my_package')

    # Gazebo launch
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'),
        )
    )

    # Follow node
    follow = Node(
        package='dolly_follow',
        executable='dolly_follow',
        output='screen',
        remappings=[
            ('cmd_vel', '/dolly/cmd_vel'),
            ('laser_scan', '/dolly/laser_scan')
        ]
    )

    # RViz
    rviz = Node(
        package='rviz2',
        executable='rviz2',
        condition=IfCondition(LaunchConfiguration('rviz'))
    )

    return LaunchDescription([
        DeclareLaunchArgument(
          'world',
          default_value=[os.path.join(pkg_dolly_gazebo, 'worlds', 'dolly_empty.world'), ''],
          description='SDF world file'),
          DeclareLaunchArgument('rviz', default_value='true',
                              description='Open RViz.'),

        gazebo,
        follow,
        rviz

    ])

2.分析.launch.py代码

1.导入launch文件的包，默认就是这些。

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.substitutions import ThisLaunchFileDir

2.要启动的部分

def generate_launch_description():
...    
return LaunchDescription([    ])

3.导入要启动部分的文件夹路径

    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
    pkg_dolly_gazebo = get_package_share_directory('dolly_gazebo')
    pkg_my_package = get_package_share_directory('my_package')

4.添加gazebo的默认程序的节点

    # Gazebo launch
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'),
        )
    )

5.添加主要的程序部分的节点

    # Follow node
    follow = Node(
        package='dolly_follow',
        executable='dolly_follow',
        output='screen',
        remappings=[
            ('cmd_vel', '/dolly/cmd_vel'),
            ('laser_scan', '/dolly/laser_scan')
        ]
    )

6.·添加rviz部分的节点

    # RViz
    rviz = Node(
        package='rviz2',
        executable='rviz2',
        condition=IfCondition(LaunchConfiguration('rviz'))
    )

conditoin代表条件
7.

DeclareLaunchArgument(
          'world',
          default_value=[os.path.join(pkg_dolly_gazebo, 'worlds', 'dolly_empty.world'), ''],
          description='SDF world file')

代表设定的启动时候的参数
两个设定参数的函数：
1.LaunchConfiguration： is local to the launch file and scoped.
2.DeclareLaunchArgument： allows you to expose the argument outside of your launch file. Allowing them to be listed, set, or marked as required when a user launches it from the command line (using ros2 launch) or when including it from another launch file (using IncludeLaunchDescription).
补充：
A LaunchConfiguration cannot be required to be set when launching or including and it is not possible to set it when launching from the command line. You can set a LaunchConfiguration before including another launch file, but an argument is better if you want it to be reused.
参考：https://answers.ros.org/question/322874/ros2-what-is-different-between-declarelaunchargument-and-launchconfiguration/
这里，给’world’添加了两个参数，一个是default_value（从本launch文件外添加），另一个是description
然后启动这个world文件，因为return LaunchDescription
8.

          DeclareLaunchArgument('rviz', default_value='true',
                              description='Open RViz.')

这里同样，给’rviz’添加了参数

9.  gazebo,
    follow,
    rviz
   

运行这三部分。

3.修改cmakelists

添加以下部分,只是编译launch.py文件的话，以下足够！牢记！！

install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

4.编译即可

只是更改python文件，再进行编译的时候使用colcon build --symlink-install 即可

5.添加主要项目部分

添加了dolly。
修改CMakeLists(My_package中的)
添加：
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)

add_executable(dolly_follow src/dolly_follow.cpp)
ament_target_dependencies(dolly_follow
“rclcpp”
“geometry_msgs”
“sensor_msgs”)

install(TARGETS
dolly_follow
DESTINATION lib/${PROJECT_NAME}
)

编译即可
编译完之后，尝试启动
ros2 launch my_package simulation.launch.py
结果报错：

找了半天错误也没找到，反正就是gzclient出了问题。
然后在.bashrc里面添加 source /usr/share/gazebo/setup.sh一下，结果就好了

6开始搞rviz

6.1增添TF

增添TF后，TF相当于物体坐标，odom是世界的固定坐标，chassis则是自己创建的机器人的坐标，用这个坐标来模拟机器人。（不要忘记调换Fixed Frame）
在这里选择odom_demo 就是指以它为地图的中心坐标

6.2增添激光扫描

add

调整主题

即可。