Add config files/documentation on how to visualize IMU data in rviz2.

CMakeLists.txt

@@ -29,7 +29,7 @@ target_compile_features(${PIKA_SPARK_BNO085_TARGET} PUBLIC cxx_std_17)
 ament_target_dependencies(${PIKA_SPARK_BNO085_TARGET} rclcpp sensor_msgs)
 ##########################################################################
 install(TARGETS ${PIKA_SPARK_BNO085_TARGET} DESTINATION lib/${PROJECT_NAME})
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})
 ##########################################################################
 ament_package()
 ##########################################################################

README.md

@@ -31,5 +31,5 @@ ros2 launch pika_spark_bno085_driver imu.py
 #### How-to-visualize your IMU data
 ```bash
 sudo apt-get install ros-humble-imu-tools
-ros2 run rviz2 rviz2  
+ros2 launch pika_spark_bno085_driver rviz2.py
 ```

config/view_imu.rviz

@@ -0,0 +1,166 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Imu1
+        - /Imu1/Topic1
+        - /Imu1/Box properties1
+        - /Imu1/Axes properties1
+        - /Imu1/Acceleration properties1
+      Splitter Ratio: 0.5
+    Tree Height: 746
+  - 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
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+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
+    - Acceleration properties:
+        Acc. vector alpha: 1
+        Acc. vector color: 255; 0; 0
+        Acc. vector scale: 1
+        Derotate acceleration: true
+        Enable acceleration: false
+      Axes properties:
+        Axes scale: 1
+        Enable axes: true
+      Box properties:
+        Box alpha: 1
+        Box color: 255; 0; 0
+        Enable box: false
+        x_scale: 1
+        y_scale: 1
+        z_scale: 1
+      Class: rviz_imu_plugin/Imu
+      Enabled: true
+      Name: Imu
+      Topic:
+        Depth: 1
+        Durability Policy: System Default
+        Filter size: 19
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /imu
+      Value: true
+      fixed_frame_orientation: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: imu
+    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: 9.793106079101562
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1043
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b100000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b40000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 3840
+  Y: 0

launch/rviz2.py

@@ -0,0 +1,28 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    pkg_path = os.path.join(get_package_share_directory('pika_spark_bno085_driver'))
+
+    # Create a RVIZ2 node
+    node_rviz2 = Node(
+        package='rviz2',
+        namespace='',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', [os.path.join(pkg_path, 'config', 'view_imu.rviz')]]
+    )
+
+    # Launch!
+    return LaunchDescription([
+        node_rviz2
+    ])