mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Added demo turtlebot launch files
This commit is contained in:
Mathieu Labbe
@@ -0,0 +1,446 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /TF1/Frames1
|
||||
- /TF1/Tree1
|
||||
- /Global Map1/Costmap1
|
||||
- /Global Map1/Planner1
|
||||
- /Local Map1/Costmap1
|
||||
- /Local Map1/Planner1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 481
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: Rtabmap cloud
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.03
|
||||
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
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_depth_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_depth_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_rgb_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_rgb_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
caster_back_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
caster_front_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
cliff_sensor_front_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
cliff_sensor_left_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
cliff_sensor_right_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
gyro_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
plate_bottom_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
plate_middle_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
plate_top_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_bottom_0_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_bottom_1_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_bottom_2_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_bottom_3_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_bottom_4_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_bottom_5_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_kinect_0_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_kinect_1_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_middle_0_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_middle_1_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_middle_2_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_middle_3_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_top_0_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_top_1_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_top_2_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
pole_top_3_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheel_left_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheel_right_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: false
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: Intensity
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Squares
|
||||
Topic: /scan
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 0; 0
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Bumper Hit
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.08
|
||||
Style: Spheres
|
||||
Topic: /mobile_base/sensors/bumper_pointcloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
Value: true
|
||||
- Class: rviz/Group
|
||||
Displays:
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: true
|
||||
Enabled: true
|
||||
Name: Costmap
|
||||
Topic: /move_base/global_costmap/costmap
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 255; 0; 0
|
||||
Enabled: true
|
||||
Name: Planner
|
||||
Topic: /move_base/TrajectoryPlannerROS/global_plan
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Global Map
|
||||
- Class: rviz/Group
|
||||
Displays:
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Costmap
|
||||
Topic: /move_base/local_costmap/costmap
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 0; 12; 255
|
||||
Enabled: true
|
||||
Name: Planner
|
||||
Topic: /move_base/TrajectoryPlannerROS/local_plan
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Local Map
|
||||
- Arrow Length: 0.2
|
||||
Class: rviz/PoseArray
|
||||
Color: 0; 192; 0
|
||||
Enabled: true
|
||||
Name: Amcl Particles
|
||||
Topic: /particlecloud
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rtabmap_ros/MapCloud
|
||||
Cloud decimation: 4
|
||||
Cloud max depth (m): 4
|
||||
Cloud voxel size (m): 0.01
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Enabled: true
|
||||
Filter floor (m): 0
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Rtabmap cloud
|
||||
Node filtering angle (degrees): 30
|
||||
Node filtering radius (m): 0.2
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /rtabmap/mapData
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/Measure
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 7.70311
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.00901246
|
||||
Y: -0.126793
|
||||
Z: 0.0121136
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 1.5348
|
||||
Target Frame: base_link
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.12411
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 694
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001e500000270fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000270000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002df0000027000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1503
|
||||
X: 106
|
||||
Y: 188
|
||||
Reference in New Issue
Block a user