Edit launchfiles for automatic discovery

grp_astro/config/auto.rviz

+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 70
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 727
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988079071
+      Binary representation: false
+      Binary threshold: 100
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: false
+        base_link:
+          Value: true
+        camera_link:
+          Value: false
+        caster_back_link:
+          Value: false
+        caster_front_link:
+          Value: false
+        cliff_sensor_front_link:
+          Value: false
+        cliff_sensor_left_link:
+          Value: false
+        cliff_sensor_right_link:
+          Value: false
+        imu_link:
+          Value: false
+        laser_link:
+          Value: false
+        left_wheel:
+          Value: false
+        map:
+          Value: false
+        odom:
+          Value: false
+        right_wheel:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                camera_link:
+                  {}
+                caster_back_link:
+                  {}
+                caster_front_link:
+                  {}
+                cliff_sensor_front_link:
+                  {}
+                cliff_sensor_left_link:
+                  {}
+                cliff_sensor_right_link:
+                  {}
+                imu_link:
+                  {}
+                laser_link:
+                  {}
+                left_wheel:
+                  {}
+                right_wheel:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        slam_toolbox: true
+        slam_toolbox_edges: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /slam_toolbox/graph_visualization
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz_default_plugins/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /transformed_global_plan
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - 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
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: -0.004999999888241291
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 42.38160705566406
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: -0.4481850564479828
+      Y: 1.6712069511413574
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001840000035afc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000000a0049006d0061006700650000000152000000ca0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001ab000000850000000000000000fb0000000a0049006d00610067006500000001f2000001a00000000000000000fb0000000a0049006d006100670065010000012d000000ef0000000000000000fb0000000a0049006d0061006700650100000222000000e80000000000000000fb0000000a0049006d0061006700650100000310000000820000000000000000000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000049b0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1850
+  X: 70
+  Y: 27

grp_astro/launch/auto_sim_operator_launch.yaml

+launch:
+
+# Launch rviz2
+- node:
+    pkg: "rviz2"
+    exec: "rviz2"
+    name: "rviz2"
+    args: "-d $(find-pkg-share grp_astro)/config/auto.rviz"
+
+
+# Launch a terminal that listens to the "detection" topic to print when we see a bottle in the FOV
+- executable:
+    cmd: gnome-terminal --tab -e 'ros2 topic echo "detection"'
+
+# Launch teleop
+- executable:
+    cmd: gnome-terminal --tab -e 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/multi/cmd_teleop'

grp_astro/launch/auto_simulation_launch.yaml

@@ -4,22 +4,16 @@ launch:
 - include:
     file: "$(find-pkg-share tbot_sim)/launch/challenge-1.launch.py"
 
-# Lidar conversion to point cloud
-- node:
-    pkg: "grp_astro"
-    exec: "scan2point_cloud"
-    name: "scan2point_cloud"
+# Launch a SLAM algorithm
+- include:
+    file: "$(find-pkg-share slam_toolbox)/launch/online_sync_launch.py"
 
 # Go to goal points
 - include:
     file: "$(find-pkg-share nav2_bringup)/launch/navigation_launch.py"
 
 # Send goal points
-# - node:
-#     pkg: "grp_astro"
-#     exec: "auto_discovery"
-#     name: "auto_discovery"
-
+- node:
+    pkg: "grp_astro"
+    exec: "auto_discovery"
+    name: "auto_discovery"
\ No newline at end of file
-# Launch a SLAM algorithm
-- include:
-    file: "$(find-pkg-share slam_toolbox)/launch/online_sync_launch.py"
\ No newline at end of file