Added "decimation" parameter to data_throttle and stereo_throttle nodelets. Added cloud processing parameters from point_cloud_xyz to point_cloud_xyzrgb nodelet. Added stereo inputs to point_cloud_xyzrgb.

launch/azimut3/config/azimut3_nav.rviz

@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /TF1/Frames1
       Splitter Ratio: 0.601881
-    Tree Height: 371
+    Tree Height: 187
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Views
@@ -73,7 +73,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: AxisColor
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -86,10 +86,10 @@ Visualization Manager:
       Size (Pixels): 5
       Size (m): 0.01
       Style: Points
-      Topic: /base_scan
+      Topic: /base_scan_relay
       Use Fixed Frame: false
       Use rainbow: true
-      Value: false
+      Value: true
     - Alpha: 0.7
       Class: rviz/Map
       Color Scheme: map
@@ -131,8 +131,8 @@ Visualization Manager:
       Value: true
       Visual Enabled: true
     - Class: rviz/Image
-      Enabled: false
-      Image Topic: /camera/data_throttled_image
+      Enabled: true
+      Image Topic: /camera/data_resized_image_relay
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -140,7 +140,7 @@ Visualization Manager:
       Normalize Range: true
       Queue Size: 2
       Transport Hint: theora
-      Value: false
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -158,7 +158,7 @@ Visualization Manager:
       Download graph: false
       Download map: false
       Enabled: true
-      Filter floor (m): 0.1
+      Filter floor (m): 0.07
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -180,26 +180,12 @@ Visualization Manager:
       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: /rtabmap/goal
-      Value: true
     - Alpha: 1
       Buffer Length: 1
       Class: rviz/Path
       Color: 255; 149; 57
       Enabled: true
-      Name: Path
+      Name: move_base global plan
       Topic: /planner/move_base/NavfnROS/plan
       Value: true
     - Alpha: 1
@@ -207,7 +193,7 @@ Visualization Manager:
       Class: rviz/Path
       Color: 2; 14; 255
       Enabled: true
-      Name: Path
+      Name: move_base local plan
       Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
       Value: true
     - Alpha: 1
@@ -222,36 +208,36 @@ Visualization Manager:
       Color: 85; 255; 0
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: Voxel_cloud
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.01
       Style: Points
-      Topic: /rtabmap/cloud_map
+      Topic: /voxel_cloud
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Alpha: 1
       Class: rtabmap_ros/MapGraph
       Color: 0; 0; 255
-      Enabled: false
+      Enabled: true
       Name: MapGraph
       Topic: /rtabmap/mapData_relay
-      Value: false
+      Value: true
     - Alpha: 1
       Buffer Length: 1
       Class: rviz/Path
       Color: 255; 0; 255
       Enabled: true
-      Name: Path
+      Name: Rtabmap global path
       Topic: /rtabmap/global_path
       Value: true
     - Alpha: 1
@@ -259,7 +245,7 @@ Visualization Manager:
       Class: rviz/Path
       Color: 85; 255; 255
       Enabled: true
-      Name: Path
+      Name: Rtabmap local path
       Topic: /rtabmap/local_path
       Value: true
     - Alpha: 1
@@ -270,12 +256,26 @@ Visualization Manager:
       Enabled: true
       Head Length: 0.3
       Head Radius: 0.1
-      Name: Pose
+      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
@@ -296,22 +296,22 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 17.1662
+      Distance: 13.3786
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.0852849
-        Y: 0.0904403
-        Z: -0.189729
+        X: -1.4347
+        Y: 1.38269
+        Z: -0.0856586
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 1.2048
+      Pitch: 0.884797
       Target Frame: base_footprint
       Value: Orbit (rviz)
-      Yaw: 3.50041
+      Yaw: 3.81544
     Saved: ~
 Window Geometry:
   Displays:
@@ -321,7 +321,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001b4000000dd00fffffffb0000000a0049006d00610067006500000001290000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000001e2000001200000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000fc000000dd00fffffffb0000000a0049006d006100670065010000012a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -331,5 +331,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1228
-  X: 372
-  Y: 32
+  X: 406
+  Y: 154