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removed node filtering from MapCloud plugin used in rviz configurations to avoid Eigen version problem on Kinetic (see #132)

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This commit is contained in:
matlabbe
2017-04-24 15:49:08 -04:00
parent 23415cdd6c
commit 8c18cd80a6
3 changed files with 102 additions and 93 deletions
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launch/config/demo_robot_mapping.rviz
+42 -26
View File
@@ -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
launch/config/demo_stereo_outdoor.rviz
+30 -20
View File
@@ -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
launch/config/rgbd.rviz
+30 -47
View File
@@ -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