Update autodrive_devkit

Author: Tinker-Twins

autodrive_devkit/autodrive_roboracer/autodrive_bridge.py

@@ -139,6 +139,7 @@ def create_odom_msg(odom, position, orientation_quaternion, linear_velocity, ang
     odom.header = Header()
     odom.header.stamp = autodrive_bridge.get_clock().now().to_msg()
     odom.header.frame_id = 'world'
+    odom.child_frame_id = 'roboracer_1'
     odom.pose.pose.position.x = position[0]
     odom.pose.pose.position.y = position[1]
     odom.pose.pose.position.z = position[2]

autodrive_devkit/rviz/autodrive_roboracer.rviz

@@ -3,7 +3,8 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /Odometry1/Shape1
       Splitter Ratio: 0.5411764979362488
     Tree Height: 563
   - Class: rviz_common/Selection
@@ -67,6 +68,7 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /autodrive/roboracer_1/lidar
@@ -92,8 +94,6 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        roboracer_1:
-          Value: true
         front_camera:
           Value: true
         front_left_wheel:
@@ -114,6 +114,8 @@ Visualization Manager:
           Value: true
         right_encoder:
           Value: true
+        roboracer_1:
+          Value: true
         world:
           Value: true
       Marker Scale: 1
@@ -168,11 +170,51 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /autodrive/roboracer_1/imu
       Value: true
       fixed_frame_orientation: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 0; 255; 0
+        Head Length: 0.20000000298023224
+        Head Radius: 0.15000000596046448
+        Shaft Length: 0.5
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /autodrive/roboracer_1/odom
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -188,6 +230,9 @@ 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
@@ -244,13 +289,13 @@ Window Geometry:
   Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000003a2fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002bc000000c700fffffffb0000000c00430061006d00650072006101000002fd000000e00000002800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160052006500610072002000430061006d0065007200610000000303000000d80000000000000000fb0000000c00430061006d0065007200610100000305000000d60000000000000000fb0000001800460072006f006e0074002000430061006d00650072006101000003bf0000001c0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005dc000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003a2fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002bc000000c700fffffffb0000000c00430061006d00650072006101000002fd000000e00000002800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160052006500610072002000430061006d0065007200610000000303000000d80000000000000000fb0000000c00430061006d0065007200610100000305000000d60000000000000000fb0000001800460072006f006e0074002000430061006d00650072006101000003bf0000001c0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005de000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1848
-  X: 72
+  Width: 1850
+  X: 70
   Y: 27