{"id":87,"date":"2024-04-04T08:01:29","date_gmt":"2024-04-04T05:01:29","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/kaivitusfaili-loomine-roboti-visualiseerimiseks\/"},"modified":"2024-04-04T08:03:55","modified_gmt":"2024-04-04T05:03:55","slug":"kaivitusfaili-loomine-roboti-visualiseerimiseks","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/kaivitusfaili-loomine-roboti-visualiseerimiseks\/","title":{"rendered":"6. K\u00e4ivitusfaili loomine roboti visualiseerimiseks"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>Selles harjutuses \u00f5pid looma k\u00e4ivitusfaili, mis kuvaks eelmises harjutuses loodud ratasrobotit RVizis soovitud kujul.<\/strong>\n\t<\/p>\n<p>\n\t\t<em>Samm-sammulise juhendi vaatamiseks klikka harjutuse vahepealkirjadele.<\/em>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8861057dd-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8861057dd-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8861057dd-collapse\"><strong>1. RVizi konfiguratsioonifail<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69db8861057dd-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8861057dd-heading\">\n            <div class=\"accordion-body\">Visualiseeri \u00fclesandes valmistatud ratasrobot RVizis.\n\n<p>\n\tKui k\u00e4ivitad RVizi, siis paned t\u00e4hele, et pead v\u00f5ib-olla tuunima m\u00f5ningaid parameetreid (nt <em>alpha<\/em> v\u00e4\u00e4rtus, et robot ei oleks l\u00e4bipaistev) v\u00f5i robotit paremini aknasse s\u00e4ttima, et seda n\u00e4ha. Selleks, et seda iga kord eraldi tegema ei peaks, v\u00f5ime salvestada endale <strong>RVizi konfiguratsioonifaili<\/strong>. Kui anname RVizile k\u00e4ivitamisel salvestatud konfiguratsioonifaili ette, siis kuvab ta robotit kohe avamisel just sellisel viisil, nagu konfiguratsioonifaili salvestatud on.\n<\/p>\n<p>\n\tKonfiguratsioonifailid paigutatakse kimbu sees tavaliselt <span style=\"font-family:Courier New,Courier,monospace\">config<\/span>-nimelisse kausta. Praegu v\u00f5ime konfiguratsioonifaili paigutada <span style=\"font-family:Courier New,Courier,monospace\">fourwheeler_description<\/span> kimpu. Loo selle kimbu alla uus alamkaust nimega <span style=\"font-family:Courier New,Courier,monospace\">config<\/span> (selle aadress oleks siis nt <span style=\"font-family:Courier New,Courier,monospace\">\/home\/kasutaja\/catkin_ws\/src\/fourwheeler_description\/config<\/span>).\n<\/p>\n<p>\n\tKonfiguratsioonifaili salvestamiseks s\u00e4ti robot just sedasi, nagu teda n\u00e4ha soovid, ja vali siis \u201c<em>File<\/em>\u201d men\u00fc\u00fcst valik \u201c<strong><em>Save Config As<\/em><\/strong>\u201c. Salvesta fail nimega <span style=\"font-family:Courier New,Courier,monospace\">fw.rviz<\/span> eelnevalt loodud <span style=\"font-family:Courier New,Courier,monospace\">fourwheeler_description\/config<\/span> kausta.\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"454\" height=\"306\" class=\"alignnone wp-image-226\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/saveas.png\" title=\"saveas.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/saveas.png 454w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/saveas-300x202.png 300w\" sizes=\"auto, (max-width: 454px) 100vw, 454px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69db8861057ed-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69db8861057ed-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69db8861057ed-collapse\"><strong>2. K\u00e4ivitusfaili loomine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69db8861057ed-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69db8861057ed-heading\">\n            <div class=\"accordion-body\">N\u00fc\u00fcd loome k\u00e4ivitusfaili, mis kuvaks meile ratasrobotit just sellisel kujul, nagu v\u00e4lja toodud \u00e4sjasalvestatud konfiguratsioonifailis.\n\n<p>\n\tLoo kimbus <span style=\"font-family:Courier New,Courier,monospace\">fourwheeler_description<\/span> uus alamkaust nimega <span style=\"font-family:Courier New,Courier,monospace\">launch<\/span> (selle aadress oleks siis nt <span style=\"font-family:Courier New,Courier,monospace\">\/home\/kasutaja\/catkin_ws\/src\/fourwheeler_description\/launch<\/span>). Sellise nimega kausta paigutatakse k\u00e4ivitusfailid.\n<\/p>\n<p>\n\tLoo selle uue kausta sisse k\u00e4ivitusfail nimega <span style=\"font-family:Courier New,Courier,monospace\">display.launch<\/span>. Selle faili sisse kirjuta j\u00e4rgmist:\n<\/p>\n<pre>&lt;launch&gt;\r\n  &lt;param name=\"robot_description\" command=\"$(find xacro)\/xacro '$(find fourwheeler_description)\/urdf\/fourwheeler.urdf'\" \/&gt;\r\n  &lt;node name=\"robot_state_publisher\" pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" \/&gt;\r\n  &lt;node name=\"joint_state_publisher_gui\" pkg=\"joint_state_publisher_gui\" type=\"joint_state_publisher_gui\" \/&gt;\r\n  &lt;node name=\"rviz\" pkg=\"rviz\" type=\"rviz\" args=\"-d $(find fourwheeler_description)\/config\/fw.rviz\" \/&gt;\r\n&lt;\/launch&gt;<\/pre>\n<p>\n\tSalvesta fail.\n<\/p>\n<p>\n\tMida see k\u00f5ik t\u00e4hendab? K\u00e4ime selle faili rida-realt l\u00e4bi.\n<\/p>\n<pre>&lt;launch&gt;<\/pre>\n<p>\n\tSee m\u00e4rgend n\u00e4itab, et siit algab k\u00e4ivitusfaili sisu.\n<\/p>\n<pre>&lt;param name=\"robot_description\" command=\"$(find xacro)\/xacro '$(find fourwheeler_description)\/urdf\/fourwheeler.urdf'\" \/&gt;<\/pre>\n<p>\n\tSee rida otsib <span style=\"font-family:Courier New,Courier,monospace\">urdf<\/span> kaustast \u00fcles roboti kirjelduse ja laadib selle parameetriserverisse, et seda saaks kuvada.\n<\/p>\n<pre>&lt;node name=\"robot_state_publisher\" pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" \/&gt;<\/pre>\n<p>\n\tSee rida k\u00e4ivitab s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">robot_state publisher<\/span> kimbust <span style=\"font-family:Courier New,Courier,monospace\">robot_state_publisher<\/span> nimega <span style=\"font-family:Courier New,Courier,monospace\">robot_state_publisher<\/span>, mis v\u00f5ib kindlasti tunduda segane, seega arutame, mis erinevus neil kolmel parameetril on:\n<\/p>\n<ul>\n<li>\n\t\t<span style=\"font-family:Courier New,Courier,monospace\">pkg<\/span> m\u00e4\u00e4rab kimbu nime\n\t<\/li>\n<li>\n\t\t<span style=\"font-family:Courier New,Courier,monospace\">type<\/span> m\u00e4\u00e4rab faili nime, kus asub k\u00e4ivitatav s\u00f5lm\n\t<\/li>\n<li>\n\t\t<span style=\"font-family:Courier New,Courier,monospace\">name<\/span> m\u00e4\u00e4rab nime, mille all k\u00e4ivitatud s\u00f5lm <span style=\"font-family:Courier New,Courier,monospace\">rosnode list<\/span> kasutades hiljem kuvatakse\n\t<\/li>\n<\/ul>\n<p>\n\tSee s\u00f5lm v\u00f5tab URDF kirjelduse ja loob sellest koordinaats\u00fcsteemid jmt, mis kirjeldavad robotit.\n<\/p>\n<pre>&lt;node name=\"joint_state_publisher_gui\" pkg=\"joint_state_publisher_gui\" type=\"joint_state_publisher_gui\" \/&gt;<\/pre>\n<p>\n\tSee rida k\u00e4ivitab s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">joint_state_publisher_gui<\/span> kimbust <span style=\"font-family:Courier New,Courier,monospace\">joint_state_publisher_gui<\/span>. See loob meile slaiderid, mille abil saame roboti p\u00f6\u00f6rdliigendeid liigutada.\n<\/p>\n<pre>&lt;node name=\"rviz\" pkg=\"rviz\" type=\"rviz\" args=\"-d $(find fourwheeler_description)\/config\/fw.rviz\" \/&gt;<\/pre>\n<p>\n\tSee rida k\u00e4ivitab s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">rviz<\/span> kimbust <span style=\"font-family:Courier New,Courier,monospace\">rviz<\/span>. Lisaks antakse talle ette argumendina meie eelnevalt loodud konfiguratsioonifail <span style=\"font-family:Courier New,Courier,monospace\">fw.rviz<\/span>.\n<\/p>\n<pre>&lt;\/launch&gt;<\/pre>\n<p>\n\tViimaks sulgeb see m\u00e4rgend k\u00e4ivitusfaili sisu.\n<\/p>\n<p>\n\tK\u00e4ivitame selle uue k\u00e4ivitusfaili:\n<\/p>\n<pre>roslaunch fourwheeler_description display.launch<\/pre>\n<p>\n\tKui k\u00f5ik t\u00f6\u00f6tab \u00f5igesti, siis n\u00e4ed robotit soovitud konfiguratsioonis.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>Selles harjutuses \u00f5pid looma k\u00e4ivitusfaili, mis kuvaks eelmises harjutuses loodud ratasrobotit RVizis soovitud kujul. Samm-sammulise juhendi vaatamiseks klikka harjutuse vahepealkirjadele. 1. RVizi konfiguratsioonifail Visualiseeri \u00fclesandes valmistatud ratasrobot RVizis. Kui k\u00e4ivitad RVizi, siis paned t\u00e4hele, et pead v\u00f5ib-olla tuunima m\u00f5ningaid parameetreid &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-87","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/87","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=87"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/87\/revisions"}],"predecessor-version":[{"id":314,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/87\/revisions\/314"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=87"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}