A few tweaks/fixes.

arbie_bringup/launch/sim_base.launch

@@ -5,7 +5,6 @@
     <include file="$(find arbie_webgui)/launch/webgui.launch"/>
     <include file="$(find arbie_teleop)/launch/teleop.launch"/>
 
-    <!-- Start realsense cameras and slam -->
-    <include file="$(find arbie_slam)/launch/cameras.launch"/>
+    <!-- Start slam -->
     <include file="$(find arbie_slam)/launch/slam.launch"/>
 </launch>

arbie_teleop/src/main.cpp

@@ -24,12 +24,12 @@ int main(int argc, char **argv)
             arm_mode = !arm_mode;
         }
         if (!arm_mode) {
-            command_publisher.set_tracks_command(
-                -joystick_listener.query_axis(JoyAxis::LEFT_VERTICAL),
-                -joystick_listener.query_axis(JoyAxis::LEFT_HORIZONTAL));
-            command_publisher.set_flippers_command(
-                joystick_listener.query_axis(JoyAxis::RIGHT_VERTICAL),
-                joystick_listener.query_axis(JoyAxis::RIGHT_HORIZONTAL));
+            double linear_vel = -0.5*joystick_listener.query_axis(JoyAxis::LEFT_VERTICAL);
+            double angular_vel = -3*joystick_listener.query_axis(JoyAxis::LEFT_HORIZONTAL);
+            command_publisher.set_tracks_command(linear_vel, angular_vel);
+            double rear_flippers = joystick_listener.query_axis(JoyAxis::RIGHT_VERTICAL);
+            double front_flippers = joystick_listener.query_axis(JoyAxis::RIGHT_HORIZONTAL);
+            command_publisher.set_flippers_command(rear_flippers, front_flippers);
         } else {
             double yaw_vel = 0, pitch_vel = 0, roll_vel = 0, gripper_vel = 0;
             if (joystick_listener.query_button_value(JoyButton::LB)) {

arbie_test/config/base.rviz → arbie_test/config/view_base.rviz

@@ -11,7 +11,7 @@ Panels:
         - /DepthCloud1/Auto Size1
         - /Map1
       Splitter Ratio: 0.5
-    Tree Height: 734
+    Tree Height: 213
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -247,7 +247,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: map
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -271,33 +271,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 13.750476837158203
+      Distance: 3.4504282474517822
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.058440905064344406
-        Y: 0.5753108263015747
-        Z: 1.3255107402801514
+        X: -0.3555293381214142
+        Y: -0.03036363422870636
+        Z: 1.1610026359558105
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.2853975296020508
+      Pitch: 0.6853980422019958
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.930396556854248
+      Yaw: 3.390397310256958
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1025
+  Height: 504
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b00000367000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002da000000c80000000000000000000000010000010000000367fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000367000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000026e0000003efc0100000002fb0000000800540069006d006501000000000000026e0000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000026e0000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000015efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b0000015e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002da000000c80000000000000000000000010000010000000367fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000367000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a70000003efc0100000002fb0000000800540069006d00650100000000000003a70000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003a70000015e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -306,6 +306,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 622
-  X: 647
-  Y: 37
+  Width: 935
+  X: 14
+  Y: 558

arbie_test/launch/view_base.launch

+<launch>
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find arbie_test)/config/view_base.rviz"
+    />
+</launch>