diff --git a/launch/config/catvehicle.rviz b/launch/config/catvehicle.rviz new file mode 100644 index 00000000..c0fea844 --- /dev/null +++ b/launch/config/catvehicle.rviz @@ -0,0 +1,367 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.522352933883667 + Tree Height: 297 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference 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 + back_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_steering_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_steering_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + main_mass: + Alpha: 1 + Show Axes: false + Show Trail: false + triclops_left_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + triclops_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: catvehicle/robot_description + TF Prefix: catvehicle + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 164; 0; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /catvehicle/path + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -9999 + Min Value: 9999 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.5 + Style: Spheres + Topic: /catvehicle/front_laser_points + Unreliable: false + 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: ring + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /catvehicle/velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /catvehicle/map + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /catvehicle/triclops/left/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 12.792472839355469 + Min Value: 0.22430419921875 + Value: true + Axis: Z + Channel Name: z + Class: rtabmap_ros/MapCloud + Cloud decimation: 1 + Cloud from scan: true + Cloud max depth (m): 0 + Cloud min depth (m): 1 + Cloud voxel size (m): 0.20000000298023224 + Color: 255; 255; 255 + Color Transformer: AxisColor + Download graph: false + Download map: false + Download namespace: catvehicle + Enabled: true + Filter ceiling (m): 0 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /catvehicle/mapData + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rtabmap_ros/MapGraph + Enabled: true + Global loop closure: 255; 0; 0 + Landmark: 0; 128; 0 + Local loop closure: 255; 255; 0 + Merged neighbor: 255; 170; 0 + Name: MapGraph + Neighbor: 0; 0; 255 + Topic: /catvehicle/mapGraph + Unreliable: false + User: 255; 0; 0 + Value: true + Virtual: 255; 0; 255 + Enabled: true + Global Options: + Background Color: 211; 215; 207 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rtabmap_ros/OrbitOriented + Distance: 32.8247184753418 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5253984332084656 + Target Frame: catvehicle/base_link + Value: OrbitOriented (rtabmap_ros) + Yaw: 2.720399856567383 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 959 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000020c00000365fc020000000bfb000000100044006900730070006c006100790073000000003d00000166000000c900fffffffb0000000a0049006d006100670065010000003d000003650000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d0061006700650000000200000001b50000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000319000000cb0000000000000000000000010000010f00000365fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000365000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001c0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003cfc0100000002fb0000000800540069006d00650000000000000005a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000002470000036500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1113 + X: 807 + Y: 27 diff --git a/launch/demo/demo_catvehicle_mapping.launch b/launch/demo/demo_catvehicle_mapping.launch index 7a063652..6b2a0c2c 100644 --- a/launch/demo/demo_catvehicle_mapping.launch +++ b/launch/demo/demo_catvehicle_mapping.launch @@ -120,5 +120,5 @@ - +