From 608c871afd6f504012f7face6e5e64c0f757b185 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Tue, 27 Apr 2021 17:17:00 +0200
Subject: [PATCH] Bt sim node now broadcasts the workspace calibration

---
 bt_sim_node.py                  |  4 ++++
 launch/panda_visualization.rviz | 20 ++++++++++++++++----
 launch/simulation.launch        |  4 ++--
 3 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/bt_sim_node.py b/bt_sim_node.py
index a64803c..db42f57 100755
--- a/bt_sim_node.py
+++ b/bt_sim_node.py
@@ -14,6 +14,7 @@ import std_srvs.srv
 
 from robot_utils.controllers import CartesianPoseController
 from robot_utils.ros.conversions import *
+from robot_utils.ros.tf import TransformTree
 
 from simulation import BtPandaEnv
 
@@ -27,6 +28,7 @@ class BtSimNode:
         self.sim = BtPandaEnv(gui=gui, sleep=False)
         self.controller = CartesianPoseController(self.sim.arm)
         self.cv_bridge = cv_bridge.CvBridge()
+        self.tf_tree = TransformTree()
         self.reset_server = rospy.Service("reset", std_srvs.srv.Trigger, self.reset)
         self.move_server = actionlib.SimpleActionServer(
             "move",
@@ -41,6 +43,8 @@ class BtSimNode:
         self.step_cnt = 0
         self.reset_requested = False
         self.move_server.start()
+        T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.1, 0.1])
+        self.tf_tree.broadcast_static(T_base_task, "panda_link0", "task")
 
     def reset(self, req):
         self.reset_requested = True
diff --git a/launch/panda_visualization.rviz b/launch/panda_visualization.rviz
index 29fdccd..f69c027 100644
--- a/launch/panda_visualization.rviz
+++ b/launch/panda_visualization.rviz
@@ -61,6 +61,10 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        cam_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         panda_hand:
           Alpha: 1
           Show Axes: false
@@ -132,6 +136,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
+        cam_optical_frame:
+          Value: true
         panda_hand:
           Value: true
         panda_leftfinger:
@@ -156,6 +162,8 @@ Visualization Manager:
           Value: false
         panda_rightfinger:
           Value: false
+        task:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -173,10 +181,14 @@ Visualization Manager:
                       panda_link7:
                         panda_link8:
                           panda_hand:
+                            cam_optical_frame:
+                              {}
                             panda_leftfinger:
                               {}
                             panda_rightfinger:
                               {}
+          task:
+            {}
       Update Interval: 0
       Value: true
   Enabled: true
@@ -207,7 +219,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.3619381189346313
+      Distance: 1.3004181385040283
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -223,9 +235,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.21979668736457825
+      Pitch: 0.2697962522506714
       Target Frame: <Fixed Frame>
-      Yaw: 5.333564758300781
+      Yaw: 5.108528137207031
     Saved: ~
 Window Geometry:
   Displays:
@@ -233,7 +245,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/launch/simulation.launch b/launch/simulation.launch
index 058f52a..c226662 100644
--- a/launch/simulation.launch
+++ b/launch/simulation.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <launch>
   <!-- Arguments -->
-  <arg name="launch_rviz" default="false" />
+  <arg name="rviz" default="false" />
 
   <!-- Load parameters. -->
   <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
@@ -11,5 +11,5 @@
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 
   <!-- Visualize the robot. -->
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" if="$(arg launch_rviz)" />
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" if="$(arg rviz)" />
 </launch>