Copter: fix iris TF and orientation (#5)

Update world and model
- Rename world to 'map'.
- Publish 3D odometry.

Move rviz config to separate folder
- Update composite example
- Remap /tf and /tf_static from robot_state_publisher.
- Update rviz config.
- Add test mission.

Include iris model with gimbal
- Replace in-place copy of model with include.

Update model orientation
- Update orientation of models to ENU.
- Update rviz config.

Signed-off-by: Rhys Mainwaring <[email protected]>

ardupilot_gz_bringup/CMakeLists.txt

@@ -22,6 +22,13 @@ install(
   DESTINATION share/${PROJECT_NAME}/config
 )
 
+# Install project rviz files.
+install(
+  DIRECTORY
+    rviz/
+  DESTINATION share/${PROJECT_NAME}/rviz
+)
+
 # --------------------------------------------------------------------------- #
 #  Build tests.
 

ardupilot_gz_bringup/config/iris_bridge.yaml

@@ -4,16 +4,16 @@
   ros_type_name: "rosgraph_msgs/msg/Clock"
   gz_type_name: "gz.msgs.Clock"
   direction: GZ_TO_ROS
-- ros_topic_name: "/iris/odometry"
-  gz_topic_name: "/model/iris/odometry"
-  ros_type_name: "nav_msgs/msg/Odometry"
-  gz_type_name: "gz.msgs.Odometry"
-  direction: GZ_TO_ROS
 - ros_topic_name: "/joint_states"
-  gz_topic_name: "/world/demo/model/iris/joint_state"
+  gz_topic_name: "/world/map/model/iris/joint_state"
   ros_type_name: "sensor_msgs/msg/JointState"
   gz_type_name: "gz.msgs.Model"
   direction: GZ_TO_ROS
+- ros_topic_name: "/odometry"
+  gz_topic_name: "/model/iris/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
 - ros_topic_name: "/tf"
   gz_topic_name: "/model/iris/pose"
   ros_type_name: "tf2_msgs/msg/TFMessage"
@@ -25,12 +25,12 @@
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
 - ros_topic_name: "/camera/image"
-  gz_topic_name: "/world/demo/model/iris/link/tilt_link/sensor/camera/image"
+  gz_topic_name: "/world/map/model/iris/link/tilt_link/sensor/camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 - ros_topic_name: "/camera/camera_info"
-  gz_topic_name: "/world/demo/model/iris/link/tilt_link/sensor/camera/camera_info"
+  gz_topic_name: "/world/map/model/iris/link/tilt_link/sensor/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
   direction: GZ_TO_ROS

ardupilot_gz_bringup/config/iris_waypoints.txt

@@ -0,0 +1,11 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	583.989990	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363174	149.165358	10.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363220	149.165248	10.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363175	149.165139	10.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363264	149.165192	10.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363356	149.165137	10.000000	1
+6	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363310	149.165250	10.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363355	149.165358	10.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363264	149.165302	10.000000	1
+9	0	0	177	1.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1