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added install directives (nodes/library/launch files)

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This commit is contained in:
Mathieu Labbe
2014-12-02 16:24:26 -05:00
parent 5318b542b7
commit 6364e9be66
108 changed files with 423 additions and 54 deletions
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launch/azimut3/az3_mapping_client.launch
+1 -1
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@@ -17,7 +17,7 @@
<remap from="grid_map" to="rtabmap/grid_map"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
launch/azimut3/az3_mapping_client_nav.launch
+1 -1
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@@ -8,7 +8,7 @@
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_nav.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
launch/azimut3/az3_mapping_client_stereo_nav.launch
+1 -1
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@@ -5,5 +5,5 @@
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_stereo_nav.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
</launch>
launch/azimut3/az3_mapping_robot_stereo_nav.launch
+5 -5
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@@ -25,11 +25,11 @@
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
launch/azimut3/az3_remote_find_object.launch
+2 -2
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@@ -1,9 +1,9 @@
<launch>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/config/azimut3_find_object.ini" type="str"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
launch/azimut3/az3_remote_mapping_rviz.launch
+1 -1
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@@ -52,7 +52,7 @@
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
launch/azimut3/config/azimut3.rviz
+370
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@@ -0,0 +1,370 @@
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/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/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/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
launch/azimut3/config/azimut3_nav.rviz
+421
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@@ -0,0 +1,421 @@
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.601881
Tree Height: 337
- 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
- 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: -0.904062
Min Value: -2.17531
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: /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: 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/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/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: 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: 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
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/OrbitOriented
Distance: 25.5693
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.29372
Y: -0.0308032
Z: -0.622506
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.3098
Target Frame: base_footprint
Value: OrbitOriented (rtabmap)
Yaw: 3.11245
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 826
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000151000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000192000000dd00fffffffb0000000a0049006d00610067006501000001c00000015c0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1561
X: 42
Y: 53
launch/azimut3/config/azimut3_stereo_nav.rviz
+444
View File
@@ -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/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/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/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/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
launch/azimut3/config/base_local_planner_params.yaml
+33
View File
@@ -0,0 +1,33 @@
TrajectoryPlannerROS:
# Current limits based on AZ3 standalone configuration.
acc_lim_x: 0.75
acc_lim_y: 0.75
acc_lim_theta: 4.00
# 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: 0.500
min_vel_x: 0.212
max_rotational_vel: 0.550
min_in_place_rotational_vel: 0.15
escape_vel: -0.10
holonomic_robot: false
xy_goal_tolerance: 0.20
yaw_goal_tolerance: 0.20
sim_time: 1.7
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 3
vtheta_samples: 20
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: true
oscillation_reset_dist: 0.05
meter_scoring: true
launch/azimut3/config/costmap_common_params.yaml
+22
View File
@@ -0,0 +1,22 @@
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
footprint_padding: 0.03
#robot_radius: ir_of_robot
inflation_radius: 0.55
transform_tolerance: 1
controller_patience: 2.0
NavfnROS:
allow_unknown: true
recovery_behaviors: [
{name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
{name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
]
conservative_clear:
reset_distance: 3.00
aggressive_clear:
reset_distance: 1.84
launch/azimut3/config/global_costmap_params.yaml
+6
View File
@@ -0,0 +1,6 @@
global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 0.5
publish_frequency: 0.5
static_map: true
launch/azimut3/config/local_costmap_params.yaml
+33
View File
@@ -0,0 +1,33 @@
local_costmap:
global_frame: map
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: 99999.0}