Optimize rviz2 visualization and add default rviz configuration file.

.gitignore

@@ -0,0 +1,56 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Colcon output
+build
+log
+install
+
+# Visual Studio Code files
+.vscode
+
+# Eclipse project files
+.cproject
+.project
+.pydevproject
+
+# Python artifacts
+__pycache__/
+*.py[cod]
+.ipynb_checkpoints
+
+sphinx_doc/_build
+
+# CLion artifacts
+.idea
+cmake-build-debug/
+
+# doxygen docs
+doc/html/

opennav_coverage_demo/launch/coverage_demo_launch.py

@@ -63,10 +63,12 @@ def generate_launch_description():
             '-R', '0.0', '-P', '0.0', '-Y', '0.0'])
 
     # start the visualization
+    rviz_config = os.path.join(coverage_demo_dir, 'opennav_coverage_demo.rviz')
+    # print("rviz_config:", rviz_config)
     rviz_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
-        launch_arguments={'namespace': ''}.items())
+        launch_arguments={'namespace': '', 'rviz_config': rviz_config}.items())
 
     # start navigation
     bringup_cmd = IncludeLaunchDescription(

opennav_coverage_demo/launch/row_coverage_demo_launch.py

@@ -63,10 +63,11 @@ def generate_launch_description():
             '-R', '0.0', '-P', '0.0', '-Y', '-1.5708'])
 
     # start the visualization
+    rviz_config = os.path.join(coverage_demo_dir, 'opennav_coverage_demo.rviz')
     rviz_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
-        launch_arguments={'namespace': ''}.items())
+        launch_arguments={'namespace': '', 'rviz_config': rviz_config}.items())
 
     # start navigation
     bringup_cmd = IncludeLaunchDescription(