4 add rviz launchfile

.github/workflows/ci_jazzy.yaml

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+name: ci_jazzy
+
+on:
+  push:
+    branches:
+      - "jazzy"
+  pull_request:
+    types: [opened, synchronize, labeled]
+
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'jazzy' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'jazzy') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'jazzy')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 20
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04]
+        ros_distribution: [jazzy]
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-colcon-coveragepy-result
+      - uses: ros-tooling/[email protected]
+      - name: Build and Test
+        uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          package-name: |
+            sanehal_mother_ship
+            sanehal_mother_ship_bringup

build_depends.repos

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+repositories:
+  PlayStation-JoyInterface-ROS2:
+    type: git
+    url: https://github.com/MrBearing/PlayStation-JoyInterface-ROS2.git
+    version: jazzy

sanehal_mother_ship_bringup/config/diffbot.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /RobotModel1/Links1
+        - /RobotModel1/Links1/base_link1
+        - /RobotModel1/Links1/caster_rear_wheel1
+        - /RobotModel1/Links1/left_wheel1
+        - /RobotModel1/Links1/right_wheel1
+      Splitter Ratio: 0.5
+    Tree Height: 514
+  - 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
+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: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: true
+          Show Trail: false
+          Value: true
+        caster_rear_wheel:
+          Alpha: 1
+          Show Axes: true
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: true
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: true
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    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:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.4723538160324097
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.05434183403849602
+        Y: 0.6973574757575989
+        Z: -0.00023954140488058329
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.16539862751960754
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.898587703704834
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 752
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000296000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011000000296fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000296000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000040a0000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1402
+  X: 103
+  Y: 62

sanehal_mother_ship_bringup/launch/rviz.launch.py

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+# Copyright 2020 ros2_control Development Team
+#
+# 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.
+
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution,LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare('sanehal_mother_ship_bringup'), 'config', 'diffbot.rviz']
+    )
+
+    # for debug
+    # logger = LaunchConfiguration('log_level')
+    launch_arg = DeclareLaunchArgument(
+            'log_level',
+            default_value=['debug'],
+            description='Logging level',
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='log',
+        arguments=[
+            '-d', rviz_config_file,
+            # '--ros-args', '--log-level', logger
+        ],
+    )
+
+    nodes = [
+        launch_arg,
+        rviz_node
+    ]
+
+    ld  = LaunchDescription(nodes)
+    return ld

setup.bash

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+#!/usr/bin/env bash
+
+if [ -z "$ROS_DISTRO" ]; then
+  echo "Please set \$ROS_DISTRO variable."
+  exit
+fi
+
+THIS_FILE=$BASH_SOURCE
+THIS_PROJECT_ROOT=$(realpath $(dirname $(realpath $THIS_FILE)))
+
+# Install ROS2 dependency
+## From git repos
+echo "Start to install dependent repos(vcs)"
+colcon_ws=$(realpath ${THIS_PROJECT_ROOT}/../../)
+
+vcs import \
+  --recursive \
+  --input ${THIS_PROJECT_ROOT}/build_depends.repos \
+  ${colcon_ws}/src
+vcs pull ${colcon_ws}/src
+
+## From apt repositories
+echo "Start to install dependent binarys(rosdep )"
+rosdep update
+rosdep install -r -y -i \
+  --from-paths ${colcon_ws}/src \
+  --rosdistro $ROS_DISTRO
+
+unset colcon_ws
+unset THIS_FILE
+unset THIS_PROJECT_ROOT
+unset THIS_REPOSITORY_NAME
+echo "finish to install dependencies!"