Signed-off-by: Hongmei Gou <[email protected]>
---
.../files/0001-ti-mmwave-rospkg-launch-rviz.patch | 50 +++++++++++++++++++++
.../append_cfg/map_4ft_by_6ft_border_large.bt | Bin 1062 -> 0 bytes
.../files/append_launch/plsdk_rviz_1443_3d.launch | 26 -----------
.../files/append_launch/plsdk_rviz_1642_2d.launch | 26 -----------
.../ros-mmwave/mmwave-ros-pkg-master_3.1.0.bb | 7 +--
5 files changed, 52 insertions(+), 57 deletions(-)
create mode 100644
recipes-ros/ros-mmwave/files/0001-ti-mmwave-rospkg-launch-rviz.patch
delete mode 100644
recipes-ros/ros-mmwave/files/append_cfg/map_4ft_by_6ft_border_large.bt
delete mode 100644
recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
delete mode 100644
recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
diff --git
a/recipes-ros/ros-mmwave/files/0001-ti-mmwave-rospkg-launch-rviz.patch
b/recipes-ros/ros-mmwave/files/0001-ti-mmwave-rospkg-launch-rviz.patch
new file mode 100644
index 0000000..65bdf02
--- /dev/null
+++ b/recipes-ros/ros-mmwave/files/0001-ti-mmwave-rospkg-launch-rviz.patch
@@ -0,0 +1,50 @@
+--- a/launch/rviz_1443_2d.launch
++++ b/launch/rviz_1443_2d.launch
+@@ -15,7 +15,4 @@
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 map base_radar_link
100"/>
+
+- <!-- Launch Rviz with pre-defined configuration to view mmWave sensor
detected object data (color by intensity) -->
+- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find
ti_mmwave_rospkg)/launch/radar_det_obj_color_by_intensity.rviz"/>
+-
+ </launch>
+--- a/launch/rviz_1443_3d.launch
++++ b/launch/rviz_1443_3d.launch
+@@ -15,7 +15,4 @@
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 map base_radar_link
100"/>
+
+- <!-- Launch Rviz with pre-defined configuration to view mmWave sensor
detected object data (color by elevation) -->
+- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find
ti_mmwave_rospkg)/launch/radar_det_obj_color_by_elev.rviz"/>
+-
+ </launch>
+--- a/launch/rviz_1642_2d.launch
++++ b/launch/rviz_1642_2d.launch
+@@ -15,7 +15,4 @@
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 map base_radar_link
100"/>
+
+- <!-- Launch Rviz with pre-defined configuration to view mmWave sensor
detected object data (color by intensity) -->
+- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find
ti_mmwave_rospkg)/launch/radar_det_obj_color_by_intensity.rviz"/>
+-
+ </launch>
+--- a/launch/rviz_6843_2d.launch
++++ b/launch/rviz_6843_2d.launch
+@@ -15,7 +15,4 @@
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 map base_radar_link
100"/>
+
+- <!-- Launch Rviz with pre-defined configuration to view mmWave sensor
detected object data (color by intensity) -->
+- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find
ti_mmwave_rospkg)/launch/radar_det_obj_color_by_intensity.rviz"/>
+-
+ </launch>
+--- a/launch/rviz_6843_3d.launch
++++ b/launch/rviz_6843_3d.launch
+@@ -15,7 +15,4 @@
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 map base_radar_link
100"/>
+
+- <!-- Launch Rviz with pre-defined configuration to view mmWave sensor
detected object data (color by elevation) -->
+- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find
ti_mmwave_rospkg)/launch/radar_det_obj_color_by_elev.rviz"/>
+-
+ </launch>
diff --git
a/recipes-ros/ros-mmwave/files/append_cfg/map_4ft_by_6ft_border_large.bt
b/recipes-ros/ros-mmwave/files/append_cfg/map_4ft_by_6ft_border_large.bt
deleted file mode 100644
index
7c13bde542ea671eb36c61e3d655f864a33c45eb..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 1062
zcma)3u};G<5Ixjp@zQ2sKj;DoK_CLLm4Tfi)k`<GacHDAMM*${KPh{W_!mAV5(5iT
zI6DbWQlRK`_Px93_pWIVuP4c3F7D_aMpEK92u1XWelU})hkL%1GxXIUS)lMdJjTgX
zgtrnWi}_rJNqmUo`vhlFJP>Cp>17lX4nm0{#vs8U-q~k87I=jPi-RYLC+8QZERr!g
zN6s1ZL?RfxInaz0ibw~1zz={ysw<|dYF+J8A2@K$F;%l`GZ<;V6d)Z@4bC&P)}jMh
z9xk^@lya9MQwBP+-})8KN6sBqUQuUzNXbcED_Gp(Mp>cEEi8(DiPS#ITXX2XAuh4O
z%uS`Z2K`-Cn99JW>|WB*rmW09%UL<8%r<x#X1`G3a8*<9E9Wk7)y*gB`w-BPf1eU{
zGO)n%398IdL8N_+m#ONU1_J23z>3Zlot@&&ky0}%rfMkYeSX^DJ^#aO^^4kTyK0rK
e@?G7zj$Cln9$Co+cL~ciyqWPIm2c<PD|`V*jRP_O
diff --git
a/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
b/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
deleted file mode 100644
index df81d9a..0000000
--- a/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
+++ /dev/null
@@ -1,26 +0,0 @@
-<!--
- This file will launch rViz along with the mmWave sensor node and configure a
TI mmWave 1443 sensor using a 3D config
- -->
-
-<launch>
-
- <!-- Call mmWave sensor launch file -->
- <include file="$(find ti_mmwave_rospkg)/launch/ti_mmwave_sensor.launch">
- <arg name="device" value="1443" doc="TI mmWave sensor device type [1443,
1642]"/>
- <arg name="config" value="3d" doc="TI mmWave sensor device configuration
[3d (not supported by 1642 EVM), 2d]"/>
- <arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum
allowed elevation angle in degrees for detected object data [0 > value >=
90]}"/>
- <arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed
azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
- </include>
-
- <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
- <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_odom" args="0 0 0 0 0 0 map odom 100"/>
- <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 base_footprint
base_radar_link 100"/>
-
- <!-- Map server -->
- <node name="octomap_server" pkg="octomap_server" type="octomap_server_node"
args="$(find ti_mmwave_rospkg)/cfg/map_4ft_by_6ft_border_large.bt
projected_map:=map cloud_in:=no_input" />
- <node pkg="fake_localization" type="fake_localization"
name="fake_localization">
- <param name="use_map_topic" value="true"/>
- <remap from="base_pose_ground_truth" to="odom"/>
- </node>
-
-</launch>
diff --git
a/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
b/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
deleted file mode 100644
index 7e4ff78..0000000
--- a/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
+++ /dev/null
@@ -1,26 +0,0 @@
-<!--
- This file will launch rViz along with the mmWave sensor node and configure a
TI mmWave 1642 sensor using a 2D config
- -->
-
-<launch>
-
- <!-- Call mmWave sensor launch file -->
- <include file="$(find ti_mmwave_rospkg)/launch/ti_mmwave_sensor.launch">
- <arg name="device" value="1642" doc="TI mmWave sensor device type [1443,
1642]"/>
- <arg name="config" value="2d" doc="TI mmWave sensor device configuration
[3d (not supported by 1642 EVM), 2d]"/>
- <arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum
allowed elevation angle in degrees for detected object data [0 > value >=
90]}"/>
- <arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed
azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
- </include>
-
- <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
- <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_odom" args="0 0 0 0 0 0 map odom 100"/>
- <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 base_footprint
base_radar_link 100"/>
-
- <!-- Map server -->
- <node name="octomap_server" pkg="octomap_server" type="octomap_server_node"
args="$(find ti_mmwave_rospkg)/cfg/map_4ft_by_6ft_border_large.bt
projected_map:=map cloud_in:=no_
- <node pkg="fake_localization" type="fake_localization"
name="fake_localization">
- <param name="use_map_topic" value="true"/>
- <remap from="base_pose_ground_truth" to="odom"/>
- </node>
-
-</launch>
diff --git a/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_3.1.0.bb
b/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_3.1.0.bb
index f92b82c..179651e 100644
--- a/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_3.1.0.bb
+++ b/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_3.1.0.bb
@@ -6,12 +6,11 @@ LIC_FILES_CHKSUM =
"file://docs/TI_mmWave_ROS_Driver_manifest.pdf;md5=1f2c3f5697
SRC_URI[base.md5sum] = "822e5f91acbcfc2b68ba2d440ec9be82"
SRC_URI[base.sha256sum] =
"d4c8d7c204972656096d458938c19d6b3277ef435bbdbb735076d9597d7a880c"
SRC_URI =
"http://dev.ti.com/tirex/content/mmwave_industrial_toolbox_3_1_0/labs/lab0006-ros-driver/lab0006_ros_driver_pjt/ti_mmwave_rospkg_v1p5.zip;name=base;subdir=${P}";
-SRC_URI += "file://append_launch \
- file://append_cfg \
+SRC_URI += "file://0001-ti-mmwave-rospkg-launch-rviz.patch \
file://setup.bash \
"
-PR = "r0"
+PR = "r1"
# do not use rpath
EXTRA_OECMAKE_append = " -DCMAKE_SKIP_RPATH=ON"
@@ -29,8 +28,6 @@ do_install_append() {
cp ${S}/mmWave_nodelets.xml ${D}${ros_datadir}/ti_mmwave_rospkg/
cp -r ${S}/cfg ${D}${ros_datadir}/ti_mmwave_rospkg/
cp -r ${S}/launch ${D}${ros_datadir}/ti_mmwave_rospkg/
- cp ${WORKDIR}/append_launch/*.launch
${D}${ros_datadir}/ti_mmwave_rospkg/launch/.
- cp ${WORKDIR}/append_cfg/*.bt ${D}${ros_datadir}/ti_mmwave_rospkg/cfg/.
cp ${WORKDIR}/setup.bash ${D}${ros_prefix}
}
--
1.9.1
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