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Added SaveObjectsExample node (added optional dependency on find_object_2d). Updated demo_find_object.launch. rtabmap: Added mutex around user data access.

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This commit is contained in:
matlabbe
2018-05-23 10:53:13 -04:00
parent a39ffe382c
commit 2139338b11
7 changed files with 344 additions and 52 deletions
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launch/config/demo_find_object.rviz
+48 -46
View File
@@ -6,7 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.434783
Splitter Ratio: 0.434783012
Tree Height: 590
- Class: rviz/Selection
Name: Selection
@@ -15,7 +15,7 @@ Panels:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
@@ -36,7 +36,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -51,8 +51,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.02684
Min Value: -1.12646
Max Value: 2.02683997
Min Value: -1.12645996
Value: true
Axis: Z
Channel Name: rgb
@@ -63,17 +63,18 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 2.34177e-38
Max Intensity: 2.34176998e-38
Min Color: 0; 0; 0
Min Intensity: 9.21942e-41
Min Intensity: 9.21942286e-41
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Size (m): 0.00999999978
Style: Points
Topic: /voxel_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -100,16 +101,6 @@ Visualization Manager:
Value: true
map:
Value: true
object_4:
Value: true
object_5:
Value: true
object_6:
Value: true
object_7:
Value: true
object_8:
Value: true
odom:
Value: true
wheelLB_linkWheel_link:
@@ -146,16 +137,7 @@ Visualization Manager:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
object_4:
{}
object_5:
{}
object_6:
{}
object_7:
{}
object_8:
{}
{}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
@@ -173,8 +155,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: -0.574923
Min Value: -5.11672
Max Value: 4.7127676
Min Value: 0.0444712937
Value: true
Axis: X
Channel Name: intensity
@@ -193,19 +175,22 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.01
Size (m): 0.00999999978
Style: Points
Topic: /base_scan
Unreliable: false
Use Fixed Frame: false
Use rainbow: true
Value: true
- Alpha: 0.7
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /rtabmap/grid_map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz/RobotModel
@@ -233,6 +218,7 @@ Visualization Manager:
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Unreliable: false
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -245,12 +231,14 @@ Visualization Manager:
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 3
Cloud voxel size (m): 0.02
Cloud min depth (m): 0
Cloud voxel size (m): 0.0199999996
Color: 255; 255; 255
Color Transformer: RGB8
Download graph: false
Download map: false
Enabled: true
Filter ceiling (m): 0
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
@@ -259,12 +247,13 @@ Visualization Manager:
Min Intensity: 0
Name: MapCloud
Node filtering angle (degrees): 20
Node filtering radius (m): 0.2
Node filtering radius (m): 0.200000003
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.01
Size (m): 0.00999999978
Style: Points
Topic: /rtabmap/mapData
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -272,10 +261,20 @@ Visualization Manager:
Enabled: true
Name: Info
Topic: /rtabmap/info
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /objectsMarkers
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
@@ -293,22 +292,25 @@ Visualization Manager:
Views:
Current:
Class: rtabmap_ros/OrbitOriented
Distance: 7.89956
Distance: 7.89955997
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0199225
Y: 0.23516
Z: -0.0896359
X: 0.0199225005
Y: 0.235159993
Z: -0.0896359012
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.819797
Near Clip Distance: 0.00999999978
Pitch: 0.819796979
Target Frame: base_link
Value: OrbitOriented (rtabmap)
Yaw: 3.14375
Yaw: 3.14374995
Saved: ~
Window Geometry:
Displays:
@@ -318,7 +320,7 @@ Window Geometry:
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002dd000000dd00fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002dd000000d700fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000459000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -327,6 +329,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1561
X: 42
Width: 1551
X: 49
Y: 107