From 8c18cd80a6a66127ac6bc107d4794821343abfbc Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 24 Apr 2017 15:49:08 -0400 Subject: [PATCH] removed node filtering from MapCloud plugin used in rviz configurations to avoid Eigen version problem on Kinetic (see #132) --- launch/config/demo_robot_mapping.rviz | 68 ++++++++++++++--------- launch/config/demo_stereo_outdoor.rviz | 50 ++++++++++------- launch/config/rgbd.rviz | 77 ++++++++++---------------- 3 files changed, 102 insertions(+), 93 deletions(-) diff --git a/launch/config/demo_robot_mapping.rviz b/launch/config/demo_robot_mapping.rviz index 5c0c662d..97648aab 100644 --- a/launch/config/demo_robot_mapping.rviz +++ b/launch/config/demo_robot_mapping.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /Global Options1 - /TF1/Frames1 - Splitter Ratio: 0.411058 + Splitter Ratio: 0.411058009 Tree Height: 422 - Class: rviz/Selection Name: Selection @@ -15,7 +15,7 @@ Panels: - /2D Pose Estimate1 - /2D Nav Goal1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 @@ -35,7 +35,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 @@ -50,8 +50,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 2.02684 - Min Value: -1.12646 + Max Value: 2.02683997 + Min Value: -1.12645996 Value: true Axis: Z Channel Name: rgb @@ -62,25 +62,26 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 2.34177e-38 + Max Intensity: 2.34176998e-38 Min Color: 0; 0; 0 - Min Intensity: 9.21942e-41 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /voxel_cloud + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 8.34969 - Min Value: -0.777029 + Max Value: 8.34969044 + Min Value: -0.777028978 Value: true Axis: X Channel Name: intensity @@ -99,9 +100,10 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /jn0/base_scan + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true @@ -129,6 +131,7 @@ Visualization Manager: Normalize Range: true Queue Size: 2 Transport Hint: compressed + Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true @@ -141,12 +144,14 @@ Visualization Manager: Class: rtabmap_ros/MapCloud Cloud decimation: 8 Cloud max depth (m): 4 - Cloud voxel size (m): 0.01 + Cloud min depth (m): 0 + Cloud voxel size (m): 0.00999999978 Color: 255; 255; 255 Color Transformer: RGB8 Download graph: false Download map: false Enabled: true + Filter ceiling (m): 0 Filter floor (m): 0 Invert Rainbow: false Max Color: 255; 255; 255 @@ -155,34 +160,43 @@ Visualization Manager: Min Intensity: 0 Name: MapCloud Node filtering angle (degrees): 30 - Node filtering radius (m): 0.1 + Node filtering radius (m): 0 Position Transformer: XYZ Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /rtabmap/mapData + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Class: rtabmap_ros/MapGraph - Color: 25; 255; 0 Enabled: true + Global loop closure: 255; 0; 0 + Local loop closure: 255; 255; 0 + Merged neighbor: 255; 170; 0 Name: MapGraph + Neighbor: 0; 0; 255 Topic: /rtabmap/mapGraph + Unreliable: false + User: 255; 0; 0 Value: true - - Alpha: 0.7 + Virtual: 255; 0; 255 + - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: /rtabmap/grid_map + Unreliable: false Value: true - Class: rtabmap_ros/Info Enabled: true Name: Info Topic: /rtabmap/info + Unreliable: false Value: true Enabled: true Global Options: @@ -204,22 +218,24 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 9.93954 + Distance: 9.93953991 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.0336609 - Y: 0.112555 - Z: -0.719693 + X: -0.0336608998 + Y: 0.112554997 + Z: -0.719693005 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.809796 + Near Clip Distance: 0.00999999978 + Pitch: 0.809795976 Target Frame: base_link Value: Orbit (rviz) - Yaw: 3.82418 + Yaw: 3.82417989 Saved: ~ Window Geometry: Displays: @@ -229,7 +245,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003890000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -240,4 +256,4 @@ Window Geometry: collapsed: false Width: 1273 X: 250 - Y: 86 + Y: 48 diff --git a/launch/config/demo_stereo_outdoor.rviz b/launch/config/demo_stereo_outdoor.rviz index c9eb5966..a827b441 100644 --- a/launch/config/demo_stereo_outdoor.rviz +++ b/launch/config/demo_stereo_outdoor.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /Status1 Splitter Ratio: 0.5 - Tree Height: 438 + Tree Height: 420 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -16,7 +16,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 @@ -36,7 +36,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 @@ -127,6 +127,7 @@ Visualization Manager: Class: rtabmap_ros/MapCloud Cloud decimation: 4 Cloud max depth (m): 4 + Cloud min depth (m): 0 Cloud voxel size (m): 0 Color: 255; 255; 255 Color Transformer: RGB8 @@ -142,12 +143,13 @@ Visualization Manager: Min Intensity: 0 Name: MapCloud Node filtering angle (degrees): 30 - Node filtering radius (m): 0.2 + Node filtering radius (m): 0 Position Transformer: XYZ Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /rtabmap/mapData + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true @@ -160,6 +162,7 @@ Visualization Manager: Name: MapGraph Neighbor: 0; 0; 255 Topic: /rtabmap/mapGraph + Unreliable: false User: 255; 0; 0 Value: true Virtual: 255; 0; 255 @@ -173,25 +176,28 @@ Visualization Manager: Normalize Range: true Queue Size: 2 Transport Hint: raw + Unreliable: false Value: true - - Alpha: 0.7 + - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: /rtabmap/grid_map + Unreliable: false Value: true - Class: rtabmap_ros/Info Enabled: true Name: Info Topic: /rtabmap/info + Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 1.17745 - Min Value: -1.72299 + Max Value: 1.17744994 + Min Value: -1.72299004 Value: true Axis: Z Channel Name: intensity @@ -210,9 +216,10 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /rtabmap/odom_local_map + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true @@ -239,9 +246,10 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /rtabmap/odom_last_frame + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true @@ -269,19 +277,21 @@ Visualization Manager: Views: Current: Class: rtabmap_ros/OrbitOriented - Distance: 8.28384 + Distance: 8.28384018 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.109544 - Y: 0.145557 - Z: 0.113349 + X: 0.109544002 + Y: 0.145557001 + Z: 0.113348998 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.635398 + Near Clip Distance: 0.00999999978 + Pitch: 0.635397971 Target Frame: base_footprint Value: OrbitOriented (rtabmap) Yaw: 3.0704 @@ -289,12 +299,12 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 872 + Height: 848 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c00000322fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000245000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000273000000d70000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c4000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003fb0000032200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000030afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000233000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000261000000d10000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c40000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003cd0000030a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -305,4 +315,4 @@ Window Geometry: collapsed: false Width: 1341 X: 97 - Y: 14 + Y: 24 diff --git a/launch/config/rgbd.rviz b/launch/config/rgbd.rviz index 182fb7a7..e9c36c2b 100644 --- a/launch/config/rgbd.rviz +++ b/launch/config/rgbd.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /TF1/Frames1 - /Info1 - Splitter Ratio: 0.411058 + Splitter Ratio: 0.411058009 Tree Height: 422 - Class: rviz/Selection Name: Selection @@ -16,7 +16,7 @@ Panels: - /2D Pose Estimate1 - /2D Nav Goal1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 @@ -26,7 +26,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: PointCloud2 + SyncSource: "" Visualization Manager: Class: "" Displays: @@ -36,7 +36,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 @@ -51,8 +51,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 2.02684 - Min Value: -1.12646 + Max Value: 2.02683997 + Min Value: -1.12645996 Value: true Axis: Z Channel Name: rgb @@ -63,17 +63,18 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 2.34177e-38 + Max Intensity: 2.34176998e-38 Min Color: 0; 0; 0 - Min Intensity: 9.21942e-41 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /voxel_cloud + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true @@ -82,38 +83,13 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - 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 Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: - map: - odom: - base_link: - camera_link: - camera_depth_frame: - camera_depth_optical_frame: - {} - camera_rgb_frame: - camera_rgb_optical_frame: - {} + {} Update Interval: 0 Value: true - Class: rviz/Image @@ -126,6 +102,7 @@ Visualization Manager: Normalize Range: true Queue Size: 2 Transport Hint: raw + Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true @@ -138,12 +115,14 @@ Visualization Manager: Class: rtabmap_ros/MapCloud Cloud decimation: 4 Cloud max depth (m): 4 - Cloud voxel size (m): 0.01 + Cloud min depth (m): 0 + Cloud voxel size (m): 0.00999999978 Color: 255; 255; 255 Color Transformer: RGB8 Download graph: false Download map: false Enabled: true + Filter ceiling (m): 0 Filter floor (m): 0 Invert Rainbow: false Max Color: 255; 255; 255 @@ -152,12 +131,13 @@ Visualization Manager: Min Intensity: 0 Name: MapCloud Node filtering angle (degrees): 30 - Node filtering radius (m): 0.1 + Node filtering radius (m): 0 Position Transformer: XYZ Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /rtabmap/mapData + Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true @@ -165,6 +145,7 @@ Visualization Manager: Enabled: true Name: Info Topic: /rtabmap/info + Unreliable: false Value: true Enabled: true Global Options: @@ -188,20 +169,22 @@ Visualization Manager: Class: rviz/Orbit Distance: 6.35253 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 1.14572 - Y: 0.168097 - Z: -1.13136 + X: 1.14572001 + Y: 0.168097004 + Z: -1.13136005 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.879797 + Near Clip Distance: 0.00999999978 + Pitch: 0.879796982 Target Frame: base_link Value: Orbit (rviz) - Yaw: 3.73418 + Yaw: 3.73417997 Saved: ~ Window Geometry: Displays: @@ -211,7 +194,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003890000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -222,4 +205,4 @@ Window Geometry: collapsed: false Width: 1273 X: 86 - Y: 115 + Y: 48