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updated az3 nav launch with image decimation

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This commit is contained in:
Mathieu Labbe
2015-02-13 17:15:15 -05:00
parent 13aedbed28
commit 4ac2eb09b0
2 changed files with 41 additions and 141 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+1
View File
@@ -45,6 +45,7 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/> <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="8"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
launch/azimut3/config/azimut3_nav.rviz
+40 -141
View File
@@ -7,7 +7,7 @@ Panels:
- /Global Options1 - /Global Options1
- /TF1/Frames1 - /TF1/Frames1
Splitter Ratio: 0.601881 Splitter Ratio: 0.601881
Tree Height: 192 Tree Height: 371
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Views - Class: rviz/Views
@@ -19,7 +19,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: Info SyncSource: ""
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
Expanded: Expanded:
- /2D Pose Estimate1 - /2D Pose Estimate1
@@ -52,73 +52,13 @@ Visualization Manager:
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: false 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 Marker Scale: 1
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
Show Names: true Show Names: true
Tree: 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 Update Interval: 0
Value: true Value: true
- Alpha: 1 - Alpha: 1
@@ -163,16 +103,16 @@ Visualization Manager:
Color Scheme: costmap Color Scheme: costmap
Draw Behind: false Draw Behind: false
Enabled: false Enabled: false
Name: Map Name: Global costmap
Topic: /planner/move_base/local_costmap/costmap Topic: /planner/move_base/global_costmap/costmap
Value: false Value: false
- Alpha: 0.7 - Alpha: 0.7
Class: rviz/Map Class: rviz/Map
Color Scheme: costmap Color Scheme: costmap
Draw Behind: false Draw Behind: false
Enabled: true Enabled: true
Name: Map Name: Local costmap
Topic: /planner/move_base/global_costmap/costmap Topic: /planner/move_base/local_costmap/costmap
Value: true Value: true
- Alpha: 1 - Alpha: 1
Class: rviz/RobotModel Class: rviz/RobotModel
@@ -184,61 +124,6 @@ Visualization Manager:
Expand Link Details: false Expand Link Details: false
Expand Tree: false Expand Tree: false
Link Tree Style: Links in Alphabetic Order 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 Name: RobotModel
Robot Description: robot_description Robot Description: robot_description
TF Prefix: "" TF Prefix: ""
@@ -247,14 +132,14 @@ Visualization Manager:
Visual Enabled: true Visual Enabled: true
- Class: rviz/Image - Class: rviz/Image
Enabled: false Enabled: false
Image Topic: /camera/data_throttled_image_relay Image Topic: /camera/data_throttled_image
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
Name: Image Name: Image
Normalize Range: true Normalize Range: true
Queue Size: 2 Queue Size: 2
Transport Hint: raw Transport Hint: theora
Value: false Value: false
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
@@ -265,7 +150,7 @@ Visualization Manager:
Axis: Z Axis: Z
Channel Name: intensity Channel Name: intensity
Class: rtabmap_ros/MapCloud Class: rtabmap_ros/MapCloud
Cloud decimation: 8 Cloud decimation: 1
Cloud max depth (m): 4 Cloud max depth (m): 4
Cloud voxel size (m): 0 Cloud voxel size (m): 0
Color: 255; 255; 255 Color: 255; 255; 255
@@ -312,10 +197,10 @@ Visualization Manager:
- Alpha: 1 - Alpha: 1
Buffer Length: 1 Buffer Length: 1
Class: rviz/Path Class: rviz/Path
Color: 25; 255; 0 Color: 255; 149; 57
Enabled: true Enabled: true
Name: Path Name: Path
Topic: /planner/move_base/TrajectoryPlannerROS/global_plan Topic: /planner/move_base/NavfnROS/plan
Value: true Value: true
- Alpha: 1 - Alpha: 1
Buffer Length: 1 Buffer Length: 1
@@ -350,21 +235,21 @@ Visualization Manager:
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.01 Size (m): 0.01
Style: Points Style: Points
Topic: /voxel_cloud Topic: /rtabmap/cloud_map
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
Value: false Value: false
- Alpha: 1 - Alpha: 1
Class: rtabmap_ros/MapGraph Class: rtabmap_ros/MapGraph
Color: 0; 0; 255 Color: 0; 0; 255
Enabled: true Enabled: false
Name: MapGraph Name: MapGraph
Topic: /rtabmap/mapData_relay Topic: /rtabmap/mapData_relay
Value: true Value: false
- Alpha: 1 - Alpha: 1
Buffer Length: 1 Buffer Length: 1
Class: rviz/Path Class: rviz/Path
Color: 255; 85; 255 Color: 255; 0; 255
Enabled: true Enabled: true
Name: Path Name: Path
Topic: /rtabmap/global_path Topic: /rtabmap/global_path
@@ -377,6 +262,20 @@ Visualization Manager:
Name: Path Name: Path
Topic: /rtabmap/local_path Topic: /rtabmap/local_path
Value: true 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: Pose
Shaft Length: 1
Shaft Radius: 0.05
Shape: Arrow
Topic: /rtabmap/current_goal
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@@ -397,32 +296,32 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 7.4465 Distance: 17.1662
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.06 Stereo Eye Separation: 0.06
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0.0430748 X: -0.0852849
Y: -0.00858197 Y: 0.0904403
Z: -0.156054 Z: -0.189729
Name: Current View Name: Current View
Near Clip Distance: 0.01 Near Clip Distance: 0.01
Pitch: 1.4204 Pitch: 1.2048
Target Frame: base_footprint Target Frame: base_footprint
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 2.93539 Yaw: 3.50041
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 504 Height: 800
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
Image: Image:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000151000001b2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000101000000dd00fffffffb0000000a0049006d006100670065000000018a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000012f000000ab0000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000173000001b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001b4000000dd00fffffffb0000000a0049006d00610067006500000001290000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000001e2000001200000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@@ -431,6 +330,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 714 Width: 1228
X: 921 X: 372
Y: 32 Y: 32