First version rtabmap_launch working

rtabmap_legacy/launch/azimut3/config/azimut3.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.434783
+    Tree Height: 410
+  - 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
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+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
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.02684
+        Min Value: -1.12646
+        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: 2.34177e-38
+      Min Color: 0; 0; 0
+      Min Intensity: 9.21942e-41
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_cloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        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: 3.66965
+        Min Value: -0.144665
+        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): 0.01
+      Style: Points
+      Topic: /base_scan
+      Use Fixed Frame: false
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_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
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_wheel_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/Image
+      Enabled: true
+      Image Topic: /camera/data_throttled_image_relay
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      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): 3
+      Cloud voxel size (m): 0.02
+      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: MapCloud
+      Node filtering angle (degrees): 20
+      Node filtering radius (m): 0.2
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/mapData
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - class: rtabmap_ros/Info
+      Enabled: true
+      Name: Info
+      Topic: /rtabmap/info
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_projection_map
+      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: rtabmap_ros/OrbitOriented
+      Distance: 7.83194
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0199225
+        Y: 0.23516
+        Z: -0.0896359
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.699796
+      Target Frame: base_link
+      Value: OrbitOriented (rtabmap)
+      Yaw: 3.19875
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 763
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1561
+  X: 42
+  Y: 108

rtabmap_legacy/launch/azimut3/config/azimut3_nav.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.601881
+    Tree Height: 353
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Info
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+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
+    - 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
+        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:
+                      {}
+                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: 3.46596
+        Min Value: -5.27159e-08
+        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): 0.01
+      Style: Points
+      Topic: /base_scan_relay
+      Use Fixed Frame: false
+      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
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Global costmap
+      Topic: /planner/move_base/global_costmap/costmap
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: false
+      Name: Local costmap
+      Topic: /planner/move_base/local_costmap/costmap
+      Value: false
+    - 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
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_wheel_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/Image
+      Enabled: true
+      Image Topic: /camera/throttled_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: theora
+      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: 1
+      Cloud max depth (m): 4
+      Cloud voxel size (m): 0
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Enabled: true
+      Filter floor (m): 0.07
+      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): 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
+    - Class: rtabmap_ros/Info
+      Enabled: true
+      Name: Info
+      Topic: /rtabmap/info
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 149; 57
+      Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
+      Name: move_base global plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Topic: /planner/move_base/NavfnROS/plan
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 2; 14; 255
+      Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
+      Name: move_base local plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 4.11231
+        Min Value: -0.00766382
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 85; 255; 0
+      Color Transformer: RGB8
+      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: Voxel_cloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_cloud
+      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
+      User: 255; 0; 0
+      Value: true
+      Virtual: 255; 0; 255
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 0; 255
+      Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
+      Name: Rtabmap global path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Topic: /rtabmap/global_path
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 85; 255; 255
+      Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
+      Name: Rtabmap local path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Topic: /rtabmap/local_path
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 0; 255; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Current goal
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Arrow
+      Topic: /rtabmap/current_goal
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Global goal
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Arrow
+      Topic: /rtabmap/goal
+      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: /rtabmap/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 13.3786
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -1.4347
+        Y: 1.38269
+        Z: -0.0856586
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.2448
+      Target Frame: base_footprint
+      Value: Orbit (rviz)
+      Yaw: 3.76044
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 800
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001a2000000dd00fffffffb0000000a0049006d00610067006501000001d0000000870000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1228
+  X: 396
+  Y: 144

rtabmap_legacy/launch/azimut3/config/azimut3_stereo_nav.rviz

@@ -0,0 +1,444 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.601881
+    Tree Height: 304
+  - Class: rviz/Selection
+    Name: Selection
+  - 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: PointCloud2
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+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
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.02684
+        Min Value: -1.12646
+        Value: true
+      Axis: Z
+      Channel Name: rgb
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2.34177e-38
+      Min Color: 0; 0; 0
+      Min Intensity: 9.21942e-41
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /odom_last_frame
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        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: -0.851967
+        Min Value: -2.15198
+        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): 0.01
+      Style: Points
+      Topic: /base_scan
+      Use Fixed Frame: false
+      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
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /planner/move_base/local_costmap/costmap
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /planner/move_base/global_costmap/costmap
+      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
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_wheel_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/Image
+      Enabled: true
+      Image Topic: /stereo_camera/left/image_rect_color_relay
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      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 voxel size (m): 0
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Enabled: true
+      Filter floor (m): 0.1
+      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): 0
+      Node filtering radius (m): 0
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/mapData_relay
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - class: rtabmap_ros/Info
+      Enabled: true
+      Name: Info
+      Topic: /rtabmap/info
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Arrow
+      Topic: /planner_goal
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Path
+      Topic: /planner/move_base/TrajectoryPlannerROS/global_plan
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 2; 14; 255
+      Enabled: true
+      Name: Path
+      Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
+      Value: true
+    - Alpha: 1
+      class: rtabmap_ros/MapGraph
+      Color: 0; 0; 255
+      Enabled: true
+      Name: MapGraph
+      Topic: /rtabmap/mapData_relay
+      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: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /odom_local_map
+      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/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /planner_goal
+  Value: true
+  Views:
+    Current:
+      class: rtabmap_ros/OrbitOriented
+      Distance: 6.3581
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0235024
+        Y: -0.0419514
+        Z: 0.22792
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.799797
+      Target Frame: base_footprint
+      Value: OrbitOriented (rtabmap)
+      Yaw: 3.11245
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 765
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000151000002b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000171000000dd00fffffffb0000000a0049006d006100670065010000019f000001400000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000042f000002b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1414
+  X: 159
+  Y: 54

rtabmap_legacy/launch/azimut3/config/base_local_planner_params.yaml

@@ -0,0 +1,41 @@
+TrajectoryPlannerROS:
+
+  # Current limits based on AZ3 standalone configuration.
+  acc_lim_x:  0.75
+  acc_lim_y:  0.75
+  acc_lim_theta: 4
+  # min_vel_x and max_rotational_vel were set to keep the ICR at
+  # minimal distance of 0.48 m.
+  # Basically, max_rotational_vel * rho_min <= min_vel_x
+  max_vel_x:  0.5
+  min_vel_x:  0.24
+  max_vel_theta: 0.5
+  min_vel_theta: -0.5
+  min_in_place_vel_theta: 0.25
+  holonomic_robot: true
+
+  xy_goal_tolerance:  0.25
+  yaw_goal_tolerance: 0.25
+  latch_xy_goal_tolerance: true
+
+  # make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
+  sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
+  sim_granularity: 0.025
+  angular_sim_granularity: 0.05
+  vx_samples: 12
+  vtheta_samples: 20
+
+  meter_scoring: true
+
+  pdist_scale: 0.7 # The higher will follow more the global path.
+  gdist_scale: 0.8
+  occdist_scale: 0.01
+  publish_cost_grid_pc: false
+
+#move_base
+controller_frequency: 10.0 #The robot can move faster when higher.
+
+#global planner
+NavfnROS:
+    allow_unknown: true
+    visualize_potential: false

rtabmap_legacy/launch/azimut3/config/costmap_common_params.yaml

@@ -0,0 +1,10 @@
+footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
+footprint_padding: 0.02
+#robot_radius: 0.38
+#robot_radius: ir_of_robot
+inflation_layer:
+  inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
+transform_tolerance: 2
+
+
+

rtabmap_legacy/launch/azimut3/config/costmap_common_params_2d.yaml

@@ -0,0 +1,43 @@
+footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
+footprint_padding: 0.04
+inflation_layer:
+  inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
+transform_tolerance: 2
+
+obstacle_layer:
+  obstacle_range: 2.5
+  raytrace_range: 3
+  max_obstacle_height: 0.4
+  track_unknown_space: true
+
+  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
+
+  laser_scan_sensor: {
+    data_type: LaserScan,
+    topic: scan,
+    expected_update_rate: 0.1,
+    marking: true,
+    clearing: true
+  }
+
+  point_cloud_sensorA: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: obstacles_cloud,
+    expected_update_rate: 0.5,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: 0.04
+  }
+
+  point_cloud_sensorB: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: ground_cloud,
+    expected_update_rate: 0.5,
+    marking: false,
+    clearing: true,
+    min_obstacle_height: -1.0 # make sure the ground is not filtered
+  }
+
+

rtabmap_legacy/launch/azimut3/config/global_costmap_params.yaml

@@ -0,0 +1,11 @@
+#global_costmap
+global_frame: map
+robot_base_frame: base_footprint
+update_frequency: 1
+publish_frequency: 1
+always_send_full_costmap: false
+plugins:
+   - {name: static_layer, type: "rtabmap_ros::StaticLayer"}
+   - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
+   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+

rtabmap_legacy/launch/azimut3/config/local_costmap_params.yaml

@@ -0,0 +1,14 @@
+global_frame: odom
+robot_base_frame: base_footprint
+update_frequency: 2
+publish_frequency: 1
+rolling_window: true
+width: 3.0
+height: 3.0
+resolution: 0.025
+origin_x: 0
+origin_y: 0
+
+plugins:
+  - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}

rtabmap_legacy/launch/azimut3/config/local_costmap_params_2d.yaml

@@ -0,0 +1,51 @@
+global_frame: odom
+robot_base_frame: base_footprint
+update_frequency: 2.0
+publish_frequency: 2.0
+rolling_window: true
+width: 4.0
+height: 4.0
+resolution: 0.025
+origin_x: -2.0
+origin_y: -2.0
+
+plugins:
+  - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
+
+obstacle_layer:
+  obstacle_range: 2.5
+  raytrace_range: 3.0
+  max_obstacle_height: 0.4
+  track_unknown_space: true
+
+  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
+
+  laser_scan_sensor: {
+    data_type: LaserScan,
+    topic: base_scan,
+    expected_update_rate: 0.2,
+    marking: true,
+    clearing: true
+  }
+
+  point_cloud_sensorA: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: obstacles_cloud,
+    expected_update_rate: 0.5,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: 0.04
+  }
+
+  point_cloud_sensorB: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: ground_cloud,
+    expected_update_rate: 0.5,
+    marking: false,
+    clearing: true,
+    min_obstacle_height: -1.0 # make usre the ground is not filtered
+  }
+

rtabmap_legacy/launch/azimut3/config/local_costmap_params_3d.yaml

@@ -0,0 +1,33 @@
+local_costmap:
+  global_frame: odom
+  robot_base_frame: base_footprint
+  update_frequency: 2.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 4.0
+  height: 4.0
+  resolution: 0.025
+  origin_x: -2.0
+  origin_y: -2.0
+
+  #observation_sources: laser_scan_sensor point_cloud_sensor
+  observation_sources: point_cloud_sensor
+
+  laser_scan_sensor: {
+    data_type: LaserScan,
+    topic: base_scan,
+    expected_update_rate: 0.2,
+    marking: true,
+    clearing: true}
+
+  # assuming receiving a cloud from rtabmap/obstacles_detection node
+  point_cloud_sensor: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: openni_points,
+    expected_update_rate: 0.5,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: -99999.0,
+    max_obstacle_height: 0.5}