From 555219267a4cbfd5684971bfd63659ac4889ca3f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 12 Aug 2014 21:13:32 +0000 Subject: [PATCH] updated azimut3.rviz config git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1641 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- launch/azimut3/az3_remote_mapping_rviz.launch | 2 +- launch/config/azimut3.rviz | 2 +- launch/config/azimut3_remote.rviz | 368 ------------------ launch/demo/demo_find_object.launch | 1 + 4 files changed, 3 insertions(+), 370 deletions(-) delete mode 100644 launch/config/azimut3_remote.rviz diff --git a/launch/azimut3/az3_remote_mapping_rviz.launch b/launch/azimut3/az3_remote_mapping_rviz.launch index 8a11fe1f..14d464f0 100644 --- a/launch/azimut3/az3_remote_mapping_rviz.launch +++ b/launch/azimut3/az3_remote_mapping_rviz.launch @@ -51,7 +51,7 @@ - + diff --git a/launch/config/azimut3.rviz b/launch/config/azimut3.rviz index 8ca49f56..8db03a7c 100644 --- a/launch/config/azimut3.rviz +++ b/launch/config/azimut3.rviz @@ -312,7 +312,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: map + Fixed Frame: odom Frame Rate: 30 Name: root Tools: diff --git a/launch/config/azimut3_remote.rviz b/launch/config/azimut3_remote.rviz deleted file mode 100644 index 18f8cf01..00000000 --- a/launch/config/azimut3_remote.rviz +++ /dev/null @@ -1,368 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /TF1/Frames1 - - /Info1 - - /Info1/Status1 - Splitter Ratio: 0.5 - Tree Height: 527 - - 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 - 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: 3.12663 - Min Value: -9.45477e-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: /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/MapCloud - Cloud decimation: 4 - Cloud max depth (m): 3 - Cloud voxel size (m): 0.02 - Color: 255; 255; 255 - Color Transformer: RGB8 - Download map: false - Enabled: true - 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): 0.2 - 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/Info - Enabled: true - Name: Info - Topic: /rtabmap/info - 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/OrbitOriented - Distance: 8.51031 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.8148 - Target Frame: base_link - Value: OrbitOriented (rtabmap) - Yaw: 3.1456 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 917 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000013600000377fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000029e000000dd00fffffffb0000000a0049006d00610067006501000002a4000000d30000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004dd0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1561 - X: 58 - Y: 98 diff --git a/launch/demo/demo_find_object.launch b/launch/demo/demo_find_object.launch index d0b89220..4ce1e639 100644 --- a/launch/demo/demo_find_object.launch +++ b/launch/demo/demo_find_object.launch @@ -52,6 +52,7 @@ +