mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
First version rtabmap_launch working
This commit is contained in:
matlabbe
@@ -0,0 +1,78 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(rtabmap_demos)
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find_package(catkin REQUIRED COMPONENTS
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rtabmap_conversions rtabmap_msgs
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)
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# Optional components
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find_package(find_object_2d)
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SET(optional_dependencies "")
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IF(find_object_2d_FOUND)
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SET(optional_dependencies ${optional_dependencies} find_object_2d)
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ENDIF(find_object_2d_FOUND)
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catkin_package(
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CATKIN_DEPENDS rtabmap_conversions rtabmap_msgs ${optional_dependencies}
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)
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include_directories(${catkin_INCLUDE_DIRS})
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IF(NOT WIN32)
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add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
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target_link_libraries(rtabmap_wifi_signal_pub ${catkin_LIBRARIES})
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set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
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ENDIF(NOT WIN32)
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add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
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target_link_libraries(rtabmap_wifi_signal_sub ${catkin_LIBRARIES})
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set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
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# If find_object_2d is found, add save objects example
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IF(find_object_2d_FOUND)
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MESSAGE(STATUS "WITH find_object_2d")
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include_directories(${find_object_2d_INCLUDE_DIRS})
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add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
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target_link_libraries(rtabmap_save_objects_example ${catkin_LIBRARIES} ${find_object_2d_LIBRARIES})
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set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
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ENDIF(find_object_2d_FOUND)
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#############
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## Install ##
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#############
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catkin_install_python(PROGRAMS
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scripts/wifi_signal_pub.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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IF(NOT WIN32)
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install(TARGETS
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rtabmap_wifi_signal_pub
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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ENDIF(NOT WIN32)
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install(TARGETS
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rtabmap_wifi_signal_sub
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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IF(find_object_2d_FOUND)
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install(TARGETS
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rtabmap_save_objects_example
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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ENDIF(find_object_2d_FOUND)
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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@@ -0,0 +1,166 @@
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[Gui]
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General\imagesKept=true
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General\loggerLevel=2
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General\loggerEventLevel=3
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General\loggerPauseLevel=4
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General\loggerType=1
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General\loggerPrintTime=true
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General\verticalLayoutUsed=false
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General\imageRejectedShown=true
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General\imageHighestHypShown=true
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General\beep=false
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||||
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\a\0\0\x2\x30\xfc\x2\0\0\0\x2\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\x30\0\0\x2\x30\0\xff\xff\xff\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\0(\0\0\x1\xf4\0\0\0\x19\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\x30\xfc\x2\0\0\0\x3\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0(\0\0\x2\x30\0\0\0+\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9c\xfc\x1\0\0\0\x6\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\0\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\x33\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0O\0\xff\xff\xff\0\0\0\0\0\0\x2\x30\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
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||||
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xc5\0\0\0K\0\0\x5\xd8\0\0\x3t\0\0\0\xcf\0\0\0q\0\0\x5\xce\0\0\x3j\0\0\0\0\0\0)
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General\showClouds0=true
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||||
General\decimation0=4
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||||
General\maxDepth0=4
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||||
General\showScans0=true
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||||
General\opacity0=0.6
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||||
General\ptSize0=1
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||||
General\opacityScan0=1
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||||
General\ptSizeScan0=1
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||||
General\showClouds1=true
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||||
General\decimation1=2
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||||
General\maxDepth1=0
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||||
General\showScans1=true
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||||
General\opacity1=1
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||||
General\ptSize1=1
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||||
General\opacityScan1=1
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||||
General\ptSizeScan1=1
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||||
General\cloudFiltering=false
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||||
General\cloudFilteringRadius=0.5
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||||
General\cloudFilteringAngle=30
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||||
MainWindow\maximized=false
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||||
MainWindow\status_bar=false
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||||
PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\0\0\0\x3\xd7\0\0\x2\xb4\0\0\0\0\0\0\0\0\0\0\x3\xd7\0\0\x2\xb4\0\0\0\0\0\0)
|
||||
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\0\0\0\x3>\0\0\x2\xa8\0\0\0\0\0\0\0\0\0\0\x3>\0\0\x2\xa8\0\0\0\0\0\0)
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||||
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xf0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0)
|
||||
widget_cloudViewer\camera_focal=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0)
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||||
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0?\xf0\0\0\0\0\0\0)
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||||
widget_cloudViewer\grid=false
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||||
widget_cloudViewer\grid_cell_count=50
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||||
widget_cloudViewer\grid_cell_size=1
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||||
widget_cloudViewer\trajectory_shown=true
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||||
widget_cloudViewer\trajectory_size=100
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||||
widget_cloudViewer\camera_target_locked=false
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widget_cloudViewer\camera_target_follow=true
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||||
widget_cloudViewer\camera_free=false
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||||
widget_cloudViewer\camera_lockZ=true
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||||
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
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||||
imageView_source\image_shown=true
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||||
imageView_source\depth_shown=false
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||||
imageView_source\features_shown=true
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||||
imageView_source\lines_shown=true
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||||
imageView_source\alpha=50
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||||
imageView_source\graphics_view=false
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||||
imageView_source\graphics_view_scale=true
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||||
imageView_loopClosure\image_shown=true
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||||
imageView_loopClosure\depth_shown=false
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||||
imageView_loopClosure\features_shown=true
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||||
imageView_loopClosure\lines_shown=true
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||||
imageView_loopClosure\alpha=50
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||||
imageView_loopClosure\graphics_view=false
|
||||
imageView_loopClosure\graphics_view_scale=true
|
||||
imageView_odometry\image_shown=true
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||||
imageView_odometry\depth_shown=false
|
||||
imageView_odometry\features_shown=true
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||||
imageView_odometry\lines_shown=true
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||||
imageView_odometry\alpha=200
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||||
imageView_odometry\graphics_view=false
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||||
imageView_odometry\graphics_view_scale=true
|
||||
ExportCloudsDialog\binary=true
|
||||
ExportCloudsDialog\normals_k=6
|
||||
ExportCloudsDialog\regenerate=false
|
||||
ExportCloudsDialog\regenerate_decimation=1
|
||||
ExportCloudsDialog\regenerate_max_depth=4
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||||
ExportCloudsDialog\filtering=false
|
||||
ExportCloudsDialog\filtering_radius=0.02
|
||||
ExportCloudsDialog\filtering_min_neighbors=2
|
||||
ExportCloudsDialog\assemble=true
|
||||
ExportCloudsDialog\assemble_voxel=0.01
|
||||
ExportCloudsDialog\subtract=false
|
||||
ExportCloudsDialog\subtract_point_radius=0.02
|
||||
ExportCloudsDialog\subtract_point_angle=45
|
||||
ExportCloudsDialog\subtract_min_neighbors=5
|
||||
ExportCloudsDialog\mls=false
|
||||
ExportCloudsDialog\mls_radius=0.04
|
||||
ExportCloudsDialog\mls_polygonial_order=2
|
||||
ExportCloudsDialog\mls_upsampling_method=0
|
||||
ExportCloudsDialog\mls_upsampling_radius=0.01
|
||||
ExportCloudsDialog\mls_upsampling_step=0
|
||||
ExportCloudsDialog\mls_point_density=0
|
||||
ExportCloudsDialog\mls_dilation_voxel_size=0.01
|
||||
ExportCloudsDialog\mls_dilation_iterations=0
|
||||
ExportCloudsDialog\mesh=false
|
||||
ExportCloudsDialog\mesh_radius=0.04
|
||||
ExportCloudsDialog\mesh_mu=2.5
|
||||
ExportCloudsDialog\mesh_decimation_factor=0
|
||||
ExportCloudsDialog\mesh_texture=false
|
||||
ExportCloudsDialog\mesh_angle_tolerance=15
|
||||
ExportCloudsDialog\mesh_quad=false
|
||||
ExportCloudsDialog\mesh_triangle_size=2
|
||||
PostProcessingDialog\detect_more_lc=true
|
||||
PostProcessingDialog\cluster_radius=0.5
|
||||
PostProcessingDialog\cluster_angle=30
|
||||
PostProcessingDialog\iterations=1
|
||||
PostProcessingDialog\reextract_features=false
|
||||
PostProcessingDialog\refine_neigbors=false
|
||||
PostProcessingDialog\refine_lc=false
|
||||
PostProcessingDialog\sba=false
|
||||
PostProcessingDialog\sba_iterations=20
|
||||
PostProcessingDialog\sba_epsilon=0.0001
|
||||
PostProcessingDialog\sba_inlier_distance=0.05
|
||||
PostProcessingDialog\sba_min_inliers=10
|
||||
graphicsView_graphView\node_radius=0.00999999977648258
|
||||
graphicsView_graphView\link_width=0
|
||||
graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
|
||||
graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
|
||||
graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
|
||||
graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
|
||||
graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\intra_inter_session_colors_enabled=false
|
||||
graphicsView_graphView\grid_visible=true
|
||||
graphicsView_graphView\origin_visible=true
|
||||
graphicsView_graphView\referential_visible=true
|
||||
graphicsView_graphView\local_radius_visible=false
|
||||
graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
|
||||
graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
|
||||
General\loggerPrintThreadId=false
|
||||
General\notifyNewGlobalPath=false
|
||||
General\odomQualityThr=50
|
||||
General\posteriorGraphView=true
|
||||
General\showFeatures0=false
|
||||
General\downsamplingScan0=1
|
||||
General\voxelSizeScan0=0
|
||||
General\ptSizeFeatures0=3
|
||||
General\showFeatures1=true
|
||||
General\downsamplingScan1=1
|
||||
General\voxelSizeScan1=0
|
||||
General\ptSizeFeatures1=3
|
||||
General\showGraphs=true
|
||||
General\showLabels=false
|
||||
General\noFiltering=true
|
||||
General\subtractFiltering=false
|
||||
General\subtractFilteringMinPts=5
|
||||
General\subtractFilteringRadius=0.02
|
||||
General\subtractFilteringAngle=45
|
||||
General\gridMapShown=false
|
||||
General\gridMapResolution=0.05
|
||||
General\gridMapOccupancyFrom3DCloud=false
|
||||
General\gridMapEroded=false
|
||||
General\gridMapOpacity=0.75
|
||||
General\meshing=false
|
||||
General\meshing_angle=15
|
||||
General\meshing_quad=false
|
||||
General\meshing_triangle_size=2
|
||||
Figures\counts=1
|
||||
Figures\curves=Loop/Highest_hypothesis_value/
|
||||
@@ -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: <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
|
||||
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
|
||||
@@ -0,0 +1,110 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
|
||||
Author: Jonathan Sprinkle, Sam Taylor, Alex Warren, Rahul Bhadani
|
||||
Hannah Grace Mason, Joe Macinnes, Landon Chase Bentley
|
||||
|
||||
Copyright (c) 2015-2018 Arizona Board of Regents
|
||||
All rights reserved.
|
||||
|
||||
Permission is hereby granted, without written agreement and without
|
||||
license or royalty fees, to use, copy, modify, and distribute this
|
||||
software and its documentation for any purpose, provided that the
|
||||
above copyright notice and the following two paragraphs appear in
|
||||
all copies of this software.
|
||||
|
||||
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
|
||||
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
||||
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
|
||||
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGE.
|
||||
|
||||
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
|
||||
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
|
||||
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
|
||||
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
|
||||
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
|
||||
|
||||
Summary:
|
||||
This file includes gazebo reference for front stereo camera simulation mounted
|
||||
on the top of the car. For more information and for the tutorials used to create
|
||||
this file, see
|
||||
http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
|
||||
|
||||
|
||||
|
||||
-->
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!--triclops camera-->
|
||||
<gazebo reference="triclops_link">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.5</mu2>
|
||||
</gazebo>
|
||||
|
||||
<joint name="triclops_optical" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-${M_PI/2} 0 -${M_PI/2}"/>
|
||||
<parent link="triclops_link"/>
|
||||
<child link="triclops_left_optical_link"/>
|
||||
</joint>
|
||||
<link name="triclops_left_optical_link"/>
|
||||
|
||||
<gazebo reference="triclops_link">
|
||||
<sensor type="multicamera" name="triclops">
|
||||
<update_rate>16.0</update_rate>
|
||||
<camera name="left">
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>1280</width>
|
||||
<height>960</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<camera name="right">
|
||||
<pose>0 -0.07 0 0 0 0</pose>
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>1280</width>
|
||||
<height>960</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_triclops_controller" filename="libgazebo_ros_multicamera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<robotNamespace>/$(arg roboname)</robotNamespace>
|
||||
<cameraName>triclops</cameraName>
|
||||
<imageTopicName>image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>triclops_left_optical_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
|
||||
Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
|
||||
Copyright (c) 2015 Arizona Board of Regents
|
||||
All rights reserved.
|
||||
|
||||
Permission is hereby granted, without written agreement and without
|
||||
license or royalty fees, to use, copy, modify, and distribute this
|
||||
software and its documentation for any purpose, provided that the
|
||||
above copyright notice and the following two paragraphs appear in
|
||||
all copies of this software.
|
||||
|
||||
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
|
||||
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
||||
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
|
||||
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGE.
|
||||
|
||||
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
|
||||
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
|
||||
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
|
||||
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
|
||||
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
|
||||
|
||||
Summary:
|
||||
This file includes the control interfaces for ROS-based control
|
||||
through Gazebo. For more information and for the tutorials used to create
|
||||
this file, see
|
||||
http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
|
||||
|
||||
Sensors are included separately, based on the arguments passed to the xacro include
|
||||
|
||||
-->
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
|
||||
<xacro:VLP-16 parent="velodyne_link" name="velodyne" topic="/$(arg roboname)/velodyne_points" organize_cloud="false" hz="10" samples="440" gpu="true">
|
||||
<origin xyz="0 0 0.0" rpy="0 0 0" />
|
||||
</xacro:VLP-16>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,382 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.434783012
|
||||
Tree Height: 592
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
- /Current View1/Focal Point1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: LaserScan
|
||||
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: 0.0299999993
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: map
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 2.02683997
|
||||
Min Value: -1.12645996
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: rgb
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 2.34176998e-38
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /voxel_cloud
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
camera_depth_frame:
|
||||
Value: true
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
camera_rgb_frame:
|
||||
Value: true
|
||||
camera_rgb_optical_frame:
|
||||
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:
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
base_footprint:
|
||||
base_link:
|
||||
base_laser_link:
|
||||
{}
|
||||
camera_link:
|
||||
camera_depth_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
camera_rgb_frame:
|
||||
camera_rgb_optical_frame:
|
||||
object_4:
|
||||
{}
|
||||
object_5:
|
||||
{}
|
||||
object_6:
|
||||
{}
|
||||
object_7:
|
||||
{}
|
||||
object_8:
|
||||
{}
|
||||
wheelLB_linkWheel_link:
|
||||
wheelLB_wheel_link:
|
||||
{}
|
||||
wheelLF_linkWheel_link:
|
||||
wheelLF_wheel_link:
|
||||
{}
|
||||
wheelRB_linkWheel_link:
|
||||
wheelRB_wheel_link:
|
||||
{}
|
||||
wheelRF_linkWheel_link:
|
||||
wheelRF_wheel_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: -0.662045956
|
||||
Min Value: -5.20883799
|
||||
Value: true
|
||||
Axis: X
|
||||
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
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 5
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /base_scan
|
||||
Unreliable: false
|
||||
Use Fixed Frame: false
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- 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
|
||||
Collision Enabled: false
|
||||
Enabled: false
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: false
|
||||
Visual Enabled: true
|
||||
- Class: rviz/Image
|
||||
Enabled: false
|
||||
Image Topic: /camera/data_throttled_image
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: compressed
|
||||
Unreliable: false
|
||||
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: rtabmap_ros/MapCloud
|
||||
Cloud decimation: 4
|
||||
Cloud from scan: false
|
||||
Cloud max depth (m): 3
|
||||
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
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 20
|
||||
Node filtering radius (m): 0.200000003
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /rtabmap/mapData
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rtabmap_ros/Info
|
||||
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
|
||||
- Class: rviz/MarkerArray
|
||||
Enabled: true
|
||||
Marker Topic: /rtabmap/labels
|
||||
Name: MarkerArray
|
||||
Namespaces:
|
||||
ids: false
|
||||
labels: false
|
||||
landmarks: true
|
||||
Queue Size: 100
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Arrow Length: 0.300000012
|
||||
Axes Length: 0.300000012
|
||||
Axes Radius: 0.100000001
|
||||
Class: rviz/PoseArray
|
||||
Color: 255; 25; 0
|
||||
Enabled: true
|
||||
Head Length: 0.0700000003
|
||||
Head Radius: 0.0299999993
|
||||
Name: PoseArray
|
||||
Shaft Length: 0.230000004
|
||||
Shaft Radius: 0.00999999978
|
||||
Shape: Axes
|
||||
Topic: /rtabmap/landmarks
|
||||
Unreliable: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rtabmap_ros/OrbitOriented
|
||||
Distance: 7.50918865
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.0776291937
|
||||
Y: 0.0206621774
|
||||
Z: 0.317859411
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.909796953
|
||||
Target Frame: base_link
|
||||
Value: OrbitOriented (rtabmap)
|
||||
Yaw: 3.73874164
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 765
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002dffc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002df000000d700fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002ed000002df00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1187
|
||||
X: 699
|
||||
Y: 344
|
||||
@@ -0,0 +1,259 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.411058009
|
||||
Tree Height: 422
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.0299999993
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: map
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 2.02683997
|
||||
Min Value: -1.12645996
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: rgb
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 2.34176998e-38
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /voxel_cloud
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 8.34969044
|
||||
Min Value: -0.777028978
|
||||
Value: true
|
||||
Axis: X
|
||||
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): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /jn0/base_scan
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /data_throttled_image
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: compressed
|
||||
Unreliable: false
|
||||
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: 8
|
||||
Cloud max depth (m): 4
|
||||
Cloud min depth (m): 0
|
||||
Cloud voxel size (m): 0.00999999978
|
||||
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
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 30
|
||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /rtabmap/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
|
||||
Local loop closure: 255; 255; 0
|
||||
Merged neighbor: 255; 170; 0
|
||||
Name: MapGraph
|
||||
Neighbor: 0; 0; 255
|
||||
Topic: /rtabmap/mapGraph
|
||||
Unreliable: false
|
||||
User: 255; 0; 0
|
||||
Value: true
|
||||
Virtual: 255; 0; 255
|
||||
- Alpha: 0.699999988
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /rtabmap/grid_map
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Class: rtabmap_ros/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
Unreliable: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 9.93953991
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.0336608998
|
||||
Y: 0.112554997
|
||||
Z: -0.719693005
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.809795976
|
||||
Target Frame: base_link
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.82417989
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 824
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003890000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1273
|
||||
X: 250
|
||||
Y: 48
|
||||
@@ -0,0 +1,318 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 420
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: Image
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.0299999993
|
||||
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
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
az3_base_link:
|
||||
Value: true
|
||||
az3_odom:
|
||||
Value: true
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
stereo_camera:
|
||||
Value: true
|
||||
stereo_camera_base:
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
base_footprint:
|
||||
base_link:
|
||||
base_laser_link:
|
||||
{}
|
||||
stereo_camera_base:
|
||||
stereo_camera:
|
||||
{}
|
||||
wheelLB_linkWheel_link:
|
||||
wheelLB_wheel_link:
|
||||
{}
|
||||
wheelLF_linkWheel_link:
|
||||
wheelLF_wheel_link:
|
||||
{}
|
||||
wheelRB_linkWheel_link:
|
||||
wheelRB_wheel_link:
|
||||
{}
|
||||
wheelRF_linkWheel_link:
|
||||
wheelRF_wheel_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
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 min depth (m): 0
|
||||
Cloud voxel size (m): 0
|
||||
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
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 30
|
||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /rtabmap/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
|
||||
Local loop closure: 255; 255; 0
|
||||
Merged neighbor: 255; 170; 0
|
||||
Name: MapGraph
|
||||
Neighbor: 0; 0; 255
|
||||
Topic: /rtabmap/mapGraph
|
||||
Unreliable: false
|
||||
User: 255; 0; 0
|
||||
Value: true
|
||||
Virtual: 255; 0; 255
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /stereo_camera/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: 0.699999988
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /rtabmap/grid_map
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Class: rtabmap_ros/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 1.17744994
|
||||
Min Value: -1.72299004
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 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: OdomMap
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /rtabmap/odom_local_map
|
||||
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: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 85; 255; 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: OdomFrame
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Points
|
||||
Topic: /rtabmap/odom_last_frame
|
||||
Unreliable: false
|
||||
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/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- 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: 8.28384018
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.109544002
|
||||
Y: 0.145557001
|
||||
Z: 0.113348998
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.635397971
|
||||
Target Frame: base_footprint
|
||||
Value: OrbitOriented (rtabmap)
|
||||
Yaw: 3.0704
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 848
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000030afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000233000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000261000000d10000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c40000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003cd0000030a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1341
|
||||
X: 97
|
||||
Y: 24
|
||||
@@ -0,0 +1,183 @@
|
||||
[General]
|
||||
windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x96\0\0\x4*\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*\0\0\0\0\0\0\0\0\a\x80)
|
||||
windowState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1;\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x95\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
|
||||
|
||||
[Camera]
|
||||
1deviceId=0
|
||||
2imageWidth=640
|
||||
3imageHeight=480
|
||||
4imageRate=0
|
||||
5mediaPath=
|
||||
6useTcpCamera=false
|
||||
7IP=127.0.0.1
|
||||
8port=5000
|
||||
9queueSize=1
|
||||
|
||||
[Feature2D]
|
||||
1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE"
|
||||
2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY"
|
||||
3MaxFeatures=0
|
||||
4Affine=false
|
||||
5AffineCount=6
|
||||
6SubPix=false
|
||||
7SubPixWinSize=3
|
||||
8SubPixIterations=30
|
||||
9SubPixEps=0.02
|
||||
AGAST_nonmaxSuppression=true
|
||||
AGAST_threshold=10
|
||||
AKAZE_descriptorChannels=3
|
||||
AKAZE_descriptorSize=0
|
||||
AKAZE_nOctaveLayers=4
|
||||
AKAZE_nOctaves=4
|
||||
AKAZE_threshold=0.001
|
||||
BRISK_octaves=3
|
||||
BRISK_patternScale=1
|
||||
BRISK_thresh=30
|
||||
Brief_bytes=32
|
||||
DAISY_interpolation=true
|
||||
DAISY_q_hist=8
|
||||
DAISY_q_radius=3
|
||||
DAISY_q_theta=8
|
||||
DAISY_radius=15
|
||||
DAISY_use_orientation=false
|
||||
Dense_featureScaleLevels=1
|
||||
Dense_featureScaleMul=0.1
|
||||
Dense_initFeatureScale=1
|
||||
Dense_initImgBound=0
|
||||
Dense_initXyStep=6
|
||||
Dense_varyImgBoundWithScale=false
|
||||
Dense_varyXyStepWithScale=true
|
||||
FREAK_nOctaves=4
|
||||
FREAK_orientationNormalized=true
|
||||
FREAK_patternScale=22
|
||||
FREAK_scaleNormalized=true
|
||||
Fast_gpu=false
|
||||
Fast_keypointsRatio=0.05
|
||||
Fast_maxNpoints=5000
|
||||
Fast_nonmaxSuppression=true
|
||||
Fast_threshold=10
|
||||
GFTT_blockSize=3
|
||||
GFTT_k=0.04
|
||||
GFTT_maxCorners=1000
|
||||
GFTT_minDistance=1
|
||||
GFTT_qualityLevel=0.01
|
||||
GFTT_useHarrisDetector=false
|
||||
KAZE_extended=false
|
||||
KAZE_nOctaveLayers=4
|
||||
KAZE_nOctaves=4
|
||||
KAZE_threshold=0.001
|
||||
KAZE_upright=false
|
||||
LATCH_bytes=32
|
||||
LATCH_half_ssd_size=3
|
||||
LATCH_rotationInvariance=true
|
||||
LUCID_blur_kernel=2
|
||||
LUCID_kernel=1
|
||||
MSER_areaThreshold=1.01
|
||||
MSER_delta=5
|
||||
MSER_edgeBlurSize=5
|
||||
MSER_maxArea=14400
|
||||
MSER_maxEvolution=200
|
||||
MSER_maxVariation=0.25
|
||||
MSER_minArea=60
|
||||
MSER_minDiversity=0.2
|
||||
MSER_minMargin=0.003
|
||||
ORB_WTA_K=2
|
||||
ORB_blurForDescriptor=false
|
||||
ORB_edgeThreshold=31
|
||||
ORB_firstLevel=0
|
||||
ORB_gpu=false
|
||||
ORB_nFeatures=500
|
||||
ORB_nLevels=8
|
||||
ORB_patchSize=31
|
||||
ORB_scaleFactor=1.2
|
||||
ORB_scoreType=0
|
||||
SIFT_contrastThreshold=0.04
|
||||
SIFT_edgeThreshold=10
|
||||
SIFT_nOctaveLayers=3
|
||||
SIFT_nfeatures=0
|
||||
SIFT_rootSIFT=false
|
||||
SIFT_sigma=1.6
|
||||
SURF_extended=true
|
||||
SURF_gpu=false
|
||||
SURF_hessianThreshold=600
|
||||
SURF_keypointsRatio=0.01
|
||||
SURF_nOctaveLayers=2
|
||||
SURF_nOctaves=4
|
||||
SURF_upright=false
|
||||
Star_lineThresholdBinarized=8
|
||||
Star_lineThresholdProjected=10
|
||||
Star_maxSize=45
|
||||
Star_responseThreshold=30
|
||||
Star_suppressNonmaxSize=5
|
||||
|
||||
[%General]
|
||||
autoPauseOnDetection=false
|
||||
autoScreenshotPath=
|
||||
autoScroll=true
|
||||
autoStartCamera=false
|
||||
autoUpdateObjects=true
|
||||
controlsShown=false
|
||||
debug=false
|
||||
imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
|
||||
invertedSearch=true
|
||||
mirrorView=false
|
||||
multiDetection=false
|
||||
multiDetectionRadius=30
|
||||
nextObjID=9
|
||||
port=0
|
||||
sendNoObjDetectedEvents=false
|
||||
threads=1
|
||||
videoFormats=*.avi *.m4v *.mp4
|
||||
vocabularyFixed=false
|
||||
vocabularyIncremental=false
|
||||
vocabularyUpdateMinWords=2000
|
||||
|
||||
[Homography]
|
||||
allCornersVisible=false
|
||||
confidence=0.995
|
||||
homographyComputed=true
|
||||
ignoreWhenAllInliers=false
|
||||
maxIterations=2000
|
||||
method="1:LMEDS;RANSAC;RHO"
|
||||
minAngle=50
|
||||
minimumInliers=10
|
||||
opticalFlow=false
|
||||
opticalFlowEps=0.01
|
||||
opticalFlowIterations=30
|
||||
opticalFlowMaxLevel=3
|
||||
opticalFlowWinSize=16
|
||||
ransacReprojThr=5
|
||||
rectBorderWidth=4
|
||||
|
||||
[NearestNeighbor]
|
||||
1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce"
|
||||
2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
|
||||
3nndrRatioUsed=true
|
||||
4nndrRatio=0.8
|
||||
5minDistanceUsed=false
|
||||
6minDistance=1.6
|
||||
7ConvertBinToFloat=false
|
||||
7search_checks=32
|
||||
8search_eps=0
|
||||
9search_sorted=true
|
||||
Autotuned_build_weight=0.01
|
||||
Autotuned_memory_weight=0
|
||||
Autotuned_sample_fraction=0.1
|
||||
Autotuned_target_precision=0.8
|
||||
BruteForce_gpu=false
|
||||
Composite_branching=32
|
||||
Composite_cb_index=0.2
|
||||
Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
|
||||
Composite_iterations=11
|
||||
Composite_trees=4
|
||||
KDTree_trees=4
|
||||
KMeans_branching=32
|
||||
KMeans_cb_index=0.2
|
||||
KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP"
|
||||
KMeans_iterations=11
|
||||
Lsh_key_size=20
|
||||
Lsh_multi_probe_level=2
|
||||
Lsh_table_number=12
|
||||
search_checks=32
|
||||
search_eps=0
|
||||
search_sorted=true
|
||||
@@ -0,0 +1,9 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
|
||||
<xacro:VLP-16 parent="base_laser_mount" name="velodyne" topic="velodyne_points" gpu="true" organize_cloud="true">
|
||||
<origin xyz="0.025 0 0.175" rpy="0 0 0" />
|
||||
</xacro:VLP-16>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,363 @@
|
||||
[Gui]
|
||||
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\0\a\x80)
|
||||
DepthCalibrationDialog\bin_depth=2
|
||||
DepthCalibrationDialog\bin_height=6
|
||||
DepthCalibrationDialog\bin_width=8
|
||||
DepthCalibrationDialog\cone_radius=0.02
|
||||
DepthCalibrationDialog\cone_stddev_thresh=0.1
|
||||
DepthCalibrationDialog\decimation=1
|
||||
DepthCalibrationDialog\laser_scan=false
|
||||
DepthCalibrationDialog\max_depth=3.5
|
||||
DepthCalibrationDialog\max_model_depth=10
|
||||
DepthCalibrationDialog\min_depth=0
|
||||
DepthCalibrationDialog\smoothing=1
|
||||
DepthCalibrationDialog\voxel=0.01
|
||||
ExportBundlerDialog\exportPoints=false
|
||||
ExportBundlerDialog\laplacianThr=0
|
||||
ExportBundlerDialog\maxAngularSpeed=0
|
||||
ExportBundlerDialog\maxLinearSpeed=0
|
||||
ExportBundlerDialog\sba_iterations=20
|
||||
ExportBundlerDialog\sba_rematch_features=true
|
||||
ExportBundlerDialog\sba_type=0
|
||||
ExportBundlerDialog\sba_variance=1
|
||||
ExportCloudsDialog\assemble=true
|
||||
ExportCloudsDialog\assemble_voxel=0.005
|
||||
ExportCloudsDialog\bilateral=false
|
||||
ExportCloudsDialog\bilateral_sigma_r=0.1
|
||||
ExportCloudsDialog\bilateral_sigma_s=10
|
||||
ExportCloudsDialog\binary=true
|
||||
ExportCloudsDialog\cputsdf_flattenRadius=0.005
|
||||
ExportCloudsDialog\cputsdf_minWeight=0
|
||||
ExportCloudsDialog\cputsdf_randomSplit=1
|
||||
ExportCloudsDialog\cputsdf_resolution=0.01
|
||||
ExportCloudsDialog\cputsdf_size=12
|
||||
ExportCloudsDialog\cputsdf_truncNeg=0.03
|
||||
ExportCloudsDialog\cputsdf_truncPos=0.03
|
||||
ExportCloudsDialog\filtering=false
|
||||
ExportCloudsDialog\filtering_min_neighbors=2
|
||||
ExportCloudsDialog\filtering_radius=0.02
|
||||
ExportCloudsDialog\frame=0
|
||||
ExportCloudsDialog\from_depth=true
|
||||
ExportCloudsDialog\gain=false
|
||||
ExportCloudsDialog\gain_beta=10
|
||||
ExportCloudsDialog\gain_full=false
|
||||
ExportCloudsDialog\gain_overlap=0
|
||||
ExportCloudsDialog\gain_radius=0.02
|
||||
ExportCloudsDialog\gain_rgb=true
|
||||
ExportCloudsDialog\mesh=false
|
||||
ExportCloudsDialog\mesh_angle_tolerance=15
|
||||
ExportCloudsDialog\mesh_clean=true
|
||||
ExportCloudsDialog\mesh_color_radius=0.03
|
||||
ExportCloudsDialog\mesh_decimation_factor=0
|
||||
ExportCloudsDialog\mesh_dense_strategy=1
|
||||
ExportCloudsDialog\mesh_k=20
|
||||
ExportCloudsDialog\mesh_max_polygons=0
|
||||
ExportCloudsDialog\mesh_min_cluster_size=0
|
||||
ExportCloudsDialog\mesh_mu=2.5
|
||||
ExportCloudsDialog\mesh_quad=false
|
||||
ExportCloudsDialog\mesh_radius=0.04
|
||||
ExportCloudsDialog\mesh_texture=false
|
||||
ExportCloudsDialog\mesh_textureBlending=true
|
||||
ExportCloudsDialog\mesh_textureBlendingDecimation=0
|
||||
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=0
|
||||
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
|
||||
ExportCloudsDialog\mesh_textureCameraFiltering=false
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringVel=0
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
|
||||
ExportCloudsDialog\mesh_textureExposureFusion=false
|
||||
ExportCloudsDialog\mesh_textureFormat=0
|
||||
ExportCloudsDialog\mesh_textureMaxAngle=0
|
||||
ExportCloudsDialog\mesh_textureMaxCount=1
|
||||
ExportCloudsDialog\mesh_textureMaxDepthError=0
|
||||
ExportCloudsDialog\mesh_textureMaxDistance=3
|
||||
ExportCloudsDialog\mesh_textureMinCluster=50
|
||||
ExportCloudsDialog\mesh_textureMultiband=false
|
||||
ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
|
||||
ExportCloudsDialog\mesh_textureSize=5
|
||||
ExportCloudsDialog\mesh_triangle_size=2
|
||||
ExportCloudsDialog\mls=false
|
||||
ExportCloudsDialog\mls_dilation_iterations=0
|
||||
ExportCloudsDialog\mls_dilation_voxel_size=0.01
|
||||
ExportCloudsDialog\mls_output_voxel_size=0
|
||||
ExportCloudsDialog\mls_point_density=0
|
||||
ExportCloudsDialog\mls_polygonial_order=2
|
||||
ExportCloudsDialog\mls_radius=0.04
|
||||
ExportCloudsDialog\mls_upsampling_method=0
|
||||
ExportCloudsDialog\mls_upsampling_radius=0.01
|
||||
ExportCloudsDialog\mls_upsampling_step=0
|
||||
ExportCloudsDialog\normals_k=10
|
||||
ExportCloudsDialog\normals_radius=0
|
||||
ExportCloudsDialog\openchisel_carving_dist_m=0.05
|
||||
ExportCloudsDialog\openchisel_chunk_size_x=16
|
||||
ExportCloudsDialog\openchisel_chunk_size_y=16
|
||||
ExportCloudsDialog\openchisel_chunk_size_z=16
|
||||
ExportCloudsDialog\openchisel_far_plane_dist=1.1
|
||||
ExportCloudsDialog\openchisel_integration_weight=1
|
||||
ExportCloudsDialog\openchisel_merge_vertices=true
|
||||
ExportCloudsDialog\openchisel_near_plane_dist=0.05
|
||||
ExportCloudsDialog\openchisel_truncation_constant=0.001504
|
||||
ExportCloudsDialog\openchisel_truncation_linear=0.00152
|
||||
ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
|
||||
ExportCloudsDialog\openchisel_truncation_scale=10
|
||||
ExportCloudsDialog\openchisel_use_voxel_carving=false
|
||||
ExportCloudsDialog\pipeline=0
|
||||
ExportCloudsDialog\poisson_depth=0
|
||||
ExportCloudsDialog\poisson_iso=8
|
||||
ExportCloudsDialog\poisson_manifold=true
|
||||
ExportCloudsDialog\poisson_minDepth=5
|
||||
ExportCloudsDialog\poisson_outputPolygons=false
|
||||
ExportCloudsDialog\poisson_pointWeight=4
|
||||
ExportCloudsDialog\poisson_samples=1
|
||||
ExportCloudsDialog\poisson_scale=1.1
|
||||
ExportCloudsDialog\poisson_solver=8
|
||||
ExportCloudsDialog\regenerate=true
|
||||
ExportCloudsDialog\regenerate_decimation=1
|
||||
ExportCloudsDialog\regenerate_distortion_model=
|
||||
ExportCloudsDialog\regenerate_fill_error=2
|
||||
ExportCloudsDialog\regenerate_fill_size=0
|
||||
ExportCloudsDialog\regenerate_max_depth=4
|
||||
ExportCloudsDialog\regenerate_min_depth=0
|
||||
ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
|
||||
ExportCloudsDialog\regenerate_scan_decimation=1
|
||||
ExportCloudsDialog\regenerate_scan_max_range=0
|
||||
ExportCloudsDialog\regenerate_scan_min_range=0
|
||||
ExportCloudsDialog\regenerate_voxel=0.005
|
||||
ExportCloudsDialog\subtract=false
|
||||
ExportCloudsDialog\subtract_min_neighbors=5
|
||||
ExportCloudsDialog\subtract_point_angle=0
|
||||
ExportCloudsDialog\subtract_point_radius=0.02
|
||||
ExportScansDialog\assemble=true
|
||||
ExportScansDialog\assemble_voxel=0.01
|
||||
ExportScansDialog\binary=true
|
||||
ExportScansDialog\filtering=false
|
||||
ExportScansDialog\filtering_min_neighbors=2
|
||||
ExportScansDialog\filtering_radius=0.02
|
||||
ExportScansDialog\normals_k=20
|
||||
ExportScansDialog\regenerate=false
|
||||
ExportScansDialog\regenerate_decimation=1
|
||||
Figures\counts=
|
||||
Figures\curves=
|
||||
General\beep=false
|
||||
General\cloudCeilingHeight=0
|
||||
General\cloudFiltering=false
|
||||
General\cloudFilteringAngle=20
|
||||
General\cloudFilteringRadius=0.2
|
||||
General\cloudFloorHeight=0
|
||||
General\cloudNoiseMinNeighbors=5
|
||||
General\cloudNoiseRadius=0
|
||||
General\cloudVoxel=0
|
||||
General\cloudsKept=true
|
||||
General\colorScheme0=0
|
||||
General\colorScheme1=0
|
||||
General\colorSchemeScan0=0
|
||||
General\colorSchemeScan1=0
|
||||
General\decimation0=4
|
||||
General\decimation1=4
|
||||
General\downsamplingScan0=1
|
||||
General\downsamplingScan1=1
|
||||
General\figure_cache=true
|
||||
General\figure_time=true
|
||||
General\gravityLength0=1
|
||||
General\gravityLength1=1
|
||||
General\gravityShown0=false
|
||||
General\gravityShown1=false
|
||||
General\gridMapOpacity=0.75
|
||||
General\gridMapShown=false
|
||||
General\gtAlign=true
|
||||
General\imageHighestHypShown=false
|
||||
General\imageRejectedShown=true
|
||||
General\imagesKept=true
|
||||
General\landmarkSize=0
|
||||
General\localizationsGraphView=false
|
||||
General\loggerEventLevel=3
|
||||
General\loggerLevel=2
|
||||
General\loggerPauseLevel=3
|
||||
General\loggerPrintThreadId=false
|
||||
General\loggerPrintTime=true
|
||||
General\loggerType=1
|
||||
General\maxDepth0=4
|
||||
General\maxDepth1=0
|
||||
General\maxRange0=0
|
||||
General\maxRange1=0
|
||||
General\meshing=false
|
||||
General\meshing_angle=15
|
||||
General\meshing_quad=false
|
||||
General\meshing_texture=false
|
||||
General\meshing_triangle_size=2
|
||||
General\minDepth0=0
|
||||
General\minDepth1=0
|
||||
General\minRange0=0
|
||||
General\minRange1=0
|
||||
General\noFiltering=true
|
||||
General\nochangeGraphView=false
|
||||
General\normalKSearch=10
|
||||
General\normalRadiusSearch=0
|
||||
General\notifyNewGlobalPath=false
|
||||
General\octomap=false
|
||||
General\octomap_2dgrid=true
|
||||
General\octomap_3dmap=true
|
||||
General\octomap_depth=16
|
||||
General\octomap_point_size=5
|
||||
General\octomap_rendering_type=0
|
||||
General\odomDisabled=false
|
||||
General\odomOnlyInliersShown=false
|
||||
General\odomQualityThr=50
|
||||
General\odomRegistration=3
|
||||
General\opacity0=1
|
||||
General\opacity1=1
|
||||
General\opacityScan0=1
|
||||
General\opacityScan1=1
|
||||
General\posteriorGraphView=true
|
||||
General\ptSize0=1
|
||||
General\ptSize1=2
|
||||
General\ptSizeFeatures0=3
|
||||
General\ptSizeFeatures1=3
|
||||
General\ptSizeScan0=1
|
||||
General\ptSizeScan1=1
|
||||
General\roiRatios0=0.0 0.0 0.0 0.0
|
||||
General\roiRatios1=0.0 0.0 0.0 0.0
|
||||
General\scanCeilingHeight=0
|
||||
General\scanFloorHeight=0
|
||||
General\scanNormalKSearch=0
|
||||
General\scanNormalRadiusSearch=0
|
||||
General\showClouds0=true
|
||||
General\showClouds1=true
|
||||
General\showFeatures0=false
|
||||
General\showFeatures1=true
|
||||
General\showFrames=false
|
||||
General\showFrustums0=false
|
||||
General\showFrustums1=false
|
||||
General\showGraphs=true
|
||||
General\showIMUAcc=false
|
||||
General\showIMUGravity=false
|
||||
General\showLabels=false
|
||||
General\showLandmarks=true
|
||||
General\showScans0=true
|
||||
General\showScans1=true
|
||||
General\subtractFiltering=false
|
||||
General\subtractFilteringAngle=0
|
||||
General\subtractFilteringMinPts=5
|
||||
General\subtractFilteringRadius=0.02
|
||||
General\verticalLayoutUsed=true
|
||||
General\voxelSizeScan0=0
|
||||
General\voxelSizeScan1=0
|
||||
General\wordsGraphView=false
|
||||
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\x43\0\0\0\x1b\0\0\x5\xa5\0\0\x3\xf\0\0\0\x43\0\0\0\x39\0\0\x5\xa5\0\0\x3\xf\0\0\0\0\0\0\0\0\a\x80)
|
||||
MainWindow\maximized=false
|
||||
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1N\0\0\x2\x9a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0=\0\0\x2\x9a\0\0\x2)\0\xff\xff\xff\0\0\0\x1\0\0\x4\xf\0\0\x2\x9a\xfc\x2\0\0\0\x2\xfc\0\0\0=\0\0\x2\x9a\0\0\0\xdb\0\xff\xff\xff\xfc\x1\0\0\0\x3\xfc\0\0\x1T\0\0\x1\x6\0\0\0h\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\0(\0\0\x1%\0\0\0\x13\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0=\0\0\x2\x9a\0\0\0\x37\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x2`\0\0\x1\xde\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x4\x44\0\0\x1\x1f\0\0\0\x46\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf2\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\0\0\x5\0\0\0\x1\x33\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0i\0\xff\xff\xff\0\0\0\0\0\0\x2\x9a\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
|
||||
MainWindow\status_bar=false
|
||||
PostProcessingDialog\cluster_angle=30
|
||||
PostProcessingDialog\cluster_radius=0.3
|
||||
PostProcessingDialog\detect_more_lc=true
|
||||
PostProcessingDialog\inter_session=true
|
||||
PostProcessingDialog\intra_session=true
|
||||
PostProcessingDialog\iterations=1
|
||||
PostProcessingDialog\reextract_features=false
|
||||
PostProcessingDialog\refine_lc=false
|
||||
PostProcessingDialog\refine_neigbors=false
|
||||
PostProcessingDialog\sba=false
|
||||
PostProcessingDialog\sba_epsilon=0
|
||||
PostProcessingDialog\sba_iterations=20
|
||||
PostProcessingDialog\sba_rematch_features=true
|
||||
PostProcessingDialog\sba_type=1
|
||||
PostProcessingDialog\sba_variance=1
|
||||
PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\f\0\0\0\x1b\0\0\x4\xdb\0\0\x3\x9a\0\0\x1\f\0\0\0\x1b\0\0\x4\xdb\0\0\x3\x9a\0\0\0\0\0\0\0\0\a\x80)
|
||||
graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
|
||||
graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
|
||||
graphicsView_graphView\global_path_visible=true
|
||||
graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
|
||||
graphicsView_graphView\gps_graph_visible=true
|
||||
graphicsView_graphView\graph_visible=true
|
||||
graphicsView_graphView\grid_visible=true
|
||||
graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
|
||||
graphicsView_graphView\gt_graph_visible=true
|
||||
graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\intra_inter_session_colors_enabled=false
|
||||
graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\link_width=0
|
||||
graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
graphicsView_graphView\local_path_visible=true
|
||||
graphicsView_graphView\local_radius_visible=false
|
||||
graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
|
||||
graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
|
||||
graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
|
||||
graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\node_radius=0.009999999776482582
|
||||
graphicsView_graphView\orientation_ENU=false
|
||||
graphicsView_graphView\origin_visible=true
|
||||
graphicsView_graphView\referential_visible=true
|
||||
graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_loopClosure\alpha=150
|
||||
imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_loopClosure\colormap=0
|
||||
imageView_loopClosure\depth_shown=false
|
||||
imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
imageView_loopClosure\features_shown=true
|
||||
imageView_loopClosure\features_size=0
|
||||
imageView_loopClosure\graphics_view=false
|
||||
imageView_loopClosure\graphics_view_scale=true
|
||||
imageView_loopClosure\graphics_view_scale_to_height=false
|
||||
imageView_loopClosure\image_shown=true
|
||||
imageView_loopClosure\lines_shown=true
|
||||
imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
imageView_odometry\alpha=200
|
||||
imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_odometry\colormap=0
|
||||
imageView_odometry\depth_shown=false
|
||||
imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
imageView_odometry\features_shown=true
|
||||
imageView_odometry\features_size=0
|
||||
imageView_odometry\graphics_view=false
|
||||
imageView_odometry\graphics_view_scale=true
|
||||
imageView_odometry\graphics_view_scale_to_height=false
|
||||
imageView_odometry\image_shown=true
|
||||
imageView_odometry\lines_shown=true
|
||||
imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
imageView_source\alpha=150
|
||||
imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_source\colormap=0
|
||||
imageView_source\depth_shown=false
|
||||
imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
imageView_source\features_shown=true
|
||||
imageView_source\features_size=0
|
||||
imageView_source\graphics_view=false
|
||||
imageView_source\graphics_view_scale=true
|
||||
imageView_source\graphics_view_scale_to_height=false
|
||||
imageView_source\image_shown=true
|
||||
imageView_source\lines_shown=true
|
||||
imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
widget_cloudViewer\camera_axis_shown=true
|
||||
widget_cloudViewer\camera_focal="@Variant(\0\0\0T?>\"\xb0=!\xa5\0?>!\xe6)"
|
||||
widget_cloudViewer\camera_free=false
|
||||
widget_cloudViewer\camera_lockZ=true
|
||||
widget_cloudViewer\camera_ortho=false
|
||||
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0G\xad|>\r\xa4\x10@h\xe3\x46)
|
||||
widget_cloudViewer\camera_target_follow=true
|
||||
widget_cloudViewer\camera_target_locked=false
|
||||
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
|
||||
widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
|
||||
widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
|
||||
widget_cloudViewer\frustum_shown=true
|
||||
widget_cloudViewer\grid=false
|
||||
widget_cloudViewer\grid_cell_count=50
|
||||
widget_cloudViewer\grid_cell_size=1
|
||||
widget_cloudViewer\intensity_max=0
|
||||
widget_cloudViewer\intensity_red_colormap=false
|
||||
widget_cloudViewer\normals=false
|
||||
widget_cloudViewer\normals_scale=0.20000000298023224
|
||||
widget_cloudViewer\normals_step=1
|
||||
widget_cloudViewer\rendering_rate=5
|
||||
widget_cloudViewer\trajectory_shown=true
|
||||
widget_cloudViewer\trajectory_size=100
|
||||
@@ -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: map
|
||||
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): 0.05
|
||||
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): 0
|
||||
Node filtering radius (m): 0
|
||||
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: 5.31174
|
||||
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: 0.0223136
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 1.3598
|
||||
Target Frame: base_footprint
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.12914
|
||||
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: 85
|
||||
Y: 188
|
||||
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user