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ros-pkg: updated/deleted some stereo related launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2001 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 16:30:48 +00:00
parent 31ce543cff
commit 4bb9953160
7 changed files with 145 additions and 591 deletions
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launch/config/azimut3_nav.rviz
+72 -104
View File
@@ -1,13 +1,13 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.477273
Tree Height: 459
Splitter Ratio: 0.601881
Tree Height: 181
- Class: rviz/Selection
Name: Selection
- Class: rviz/Views
@@ -20,7 +20,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Info
SyncSource: Image
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
@@ -58,7 +58,7 @@ Visualization Manager:
Channel Name: rgb
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
@@ -73,7 +73,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /voxel_cloud
Topic: /odom_last_frame
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -82,26 +82,24 @@ Visualization Manager:
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
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
stereo_camera:
Value: true
stereo_camera_base:
Value: true
wheelLB_linkWheel_link:
Value: true
wheelLB_wheel_link:
@@ -130,13 +128,9 @@ Visualization Manager:
base_link:
base_laser_link:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
stereo_camera_base:
stereo_camera:
{}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
@@ -154,8 +148,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 7.24125
Min Value: 1.59028
Max Value: 5.45389
Min Value: 4.86317
Value: true
Axis: X
Channel Name: intensity
@@ -184,10 +178,10 @@ Visualization Manager:
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Enabled: false
Name: Map
Topic: /map
Value: true
Value: false
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
@@ -200,84 +194,29 @@ Visualization Manager:
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Enabled: false
Name: Map
Topic: /planner/move_base/global_costmap/costmap
Value: true
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
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
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
Value: false
Visual Enabled: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/data_throttled_image_relay
Image Topic: /stereo_camera/left/image_rect
Max Value: 1
Median window: 5
Min Value: 0
@@ -295,28 +234,28 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Cloud decimation: 4
Cloud max depth (m): 3
Cloud voxel size (m): 0.02
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
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
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
Topic: /rtabmap/mapData
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -362,6 +301,35 @@ Visualization Manager:
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
@@ -382,32 +350,32 @@ Visualization Manager:
Views:
Current:
Class: rtabmap/OrbitOriented
Distance: 13.4608
Distance: 6.10754
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.188739
Y: -0.297
Z: 0.157103
X: -0.963614
Y: -1.20902
Z: 0.399736
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.1698
Target Frame: base_link
Pitch: 0.559801
Target Frame: base_footprint
Value: OrbitOriented (rtabmap)
Yaw: 2.92062
Yaw: 3.13741
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 917
Height: 535
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001510000034ffc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025a000000dd00fffffffb0000000a0049006d0061006700650100000288000000ef0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000034f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000151000001d1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f6000000dd00fffffffb0000000a0049006d0061006700650100000124000000d50000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000001d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -418,4 +386,4 @@ Window Geometry:
collapsed: false
Width: 1561
X: 42
Y: 98
Y: 53