From b657c7be2079b441952177550b24562a7fc5e05f Mon Sep 17 00:00:00 2001
From: Taiga Takano <53041471+TakanoTaiga@users.noreply.github.com>
Date: Mon, 11 Sep 2023 17:50:18 +0900
Subject: [PATCH] Add rviz param dir and fix readme (#77)

Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp>
---
 README.md                                   | 10 ++--------
 lidarslam/CMakeLists.txt                    |  2 +-
 lidarslam/launch/lidarslam.launch.py        | 14 ++++++++++++++
 lidarslam/launch/lidarslam_tukuba.launch.py | 14 ++++++++++++++
 4 files changed, 31 insertions(+), 9 deletions(-)

diff --git a/README.md b/README.md
index 3441646..7d3d5b9 100644
--- a/README.md
+++ b/README.md
@@ -33,7 +33,7 @@ rosdep install --from-paths src --ignore-src -r -y
 ```
 build
 ```
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 ## io
@@ -126,9 +126,7 @@ ros2 service call /map_save std_srvs/Empty
 demo data(ROS1) is `hdl_400.bag` in [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam)  
 The Velodyne VLP-32 was used in this data.  
 To use rosbag in ROS1, use [rosbag2_bag_v2](https://github.com/ros2/rosbag2_bag_v2)  
-```
-rviz2 -d src/lidarslam_ros2/lidarslam/rviz/mapping.rviz 
-```
+
 
 ```
 ros2 launch lidarslam lidarslam.launch.py
@@ -151,10 +149,6 @@ https://data.tier4.jp/rosbag_details/?id=212
 The Velodyne VLP-16 was used in this data.
 
 
-```
-rviz2 -d src/lidarslam_ros2/lidarslam/rviz/mapping_tukuba.rviz 
-```
-
 ```
 ros2 launch lidarslam lidarslam_tukuba.launch.py
 ```
diff --git a/lidarslam/CMakeLists.txt b/lidarslam/CMakeLists.txt
index 4930b5c..50ba49d 100644
--- a/lidarslam/CMakeLists.txt
+++ b/lidarslam/CMakeLists.txt
@@ -88,7 +88,7 @@ ament_target_dependencies(lidarslam
   )
 
 install(
-  DIRECTORY launch param
+  DIRECTORY launch param rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/lidarslam/launch/lidarslam.launch.py b/lidarslam/launch/lidarslam.launch.py
index d225b4f..1ab3d79 100644
--- a/lidarslam/launch/lidarslam.launch.py
+++ b/lidarslam/launch/lidarslam.launch.py
@@ -13,6 +13,13 @@ def generate_launch_description():
             get_package_share_directory('lidarslam'),
             'param',
             'lidarslam.yaml'))
+    
+    rviz_param_dir = launch.substitutions.LaunchConfiguration(
+        'rviz_param_dir',
+        default=os.path.join(
+            get_package_share_directory('lidarslam'),
+            'rviz',
+            'mapping.rviz'))
 
     mapping = launch_ros.actions.Node(
         package='scanmatcher',
@@ -35,6 +42,12 @@ def generate_launch_description():
         parameters=[main_param_dir],
         output='screen'
         )
+    
+    rviz = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', rviz_param_dir]
+        )
 
 
     return launch.LaunchDescription([
@@ -45,4 +58,5 @@ def generate_launch_description():
         mapping,
         tf,
         graphbasedslam,
+        rviz,
             ])
\ No newline at end of file
diff --git a/lidarslam/launch/lidarslam_tukuba.launch.py b/lidarslam/launch/lidarslam_tukuba.launch.py
index fb53620..b5e3869 100644
--- a/lidarslam/launch/lidarslam_tukuba.launch.py
+++ b/lidarslam/launch/lidarslam_tukuba.launch.py
@@ -13,6 +13,13 @@ def generate_launch_description():
             get_package_share_directory('lidarslam'),
             'param',
             'lidarslam_tukuba.yaml'))
+    
+    rviz_param_dir = launch.substitutions.LaunchConfiguration(
+        'rviz_param_dir',
+        default=os.path.join(
+            get_package_share_directory('lidarslam'),
+            'rviz',
+            'mapping_tukuba.rviz'))
 
     mapping = launch_ros.actions.Node(
         package='scanmatcher',
@@ -36,6 +43,12 @@ def generate_launch_description():
         )
 
 
+    rviz = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', rviz_param_dir]
+        )
+    
     return launch.LaunchDescription([
         launch.actions.DeclareLaunchArgument(
             'main_param_dir',
@@ -44,4 +57,5 @@ def generate_launch_description():
         mapping,
         graphbasedslam,
         tf,
+        rviz,
             ])