mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
rtabmap node publishes now directly /rtabmap/cloud_map, /rtabmap/proj_map and /rtabmap/grid_map (added all related rosparam), update grid_map_assembler node with the new efficient way of creating map
This commit is contained in:
Mathieu Labbe
@@ -7,7 +7,7 @@ Panels:
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- /Global Options1
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- /TF1/Frames1
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Splitter Ratio: 0.434783
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Tree Height: 410
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Tree Height: 590
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@@ -82,24 +82,36 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: false
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az3_base_link:
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Value: true
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az3_odom:
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Value: true
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base_footprint:
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Value: true
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base_laser_link:
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Value: true
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base_link:
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Value: true
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camera_depth_frame:
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Value: true
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camera_depth_optical_frame:
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Value: true
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camera_link:
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Value: true
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camera_rgb_frame:
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Value: true
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camera_rgb_optical_frame:
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Value: true
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map:
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Value: true
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object_4:
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Value: true
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object_5:
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Value: true
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object_6:
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Value: true
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object_7:
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Value: true
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object_8:
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Value: true
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odom:
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Value: true
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stereo_camera:
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Value: true
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stereo_camera_base:
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Value: true
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wheelLB_linkWheel_link:
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Value: true
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wheelLB_wheel_link:
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@@ -128,9 +140,22 @@ Visualization Manager:
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base_link:
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base_laser_link:
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{}
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stereo_camera_base:
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stereo_camera:
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{}
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camera_link:
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camera_depth_frame:
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camera_depth_optical_frame:
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{}
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camera_rgb_frame:
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camera_rgb_optical_frame:
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object_4:
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{}
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object_5:
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{}
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object_6:
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{}
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object_7:
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{}
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object_8:
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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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{}
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@@ -148,8 +173,8 @@ Visualization Manager:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 3.66965
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Min Value: -0.144665
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Max Value: -0.574923
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Min Value: -5.11672
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Value: true
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Axis: X
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Channel Name: intensity
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@@ -185,85 +210,30 @@ Visualization Manager:
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Enabled: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_footprint:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_laser_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLB_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLB_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLF_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLF_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRB_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRB_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRF_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRF_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Value: false
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Visual Enabled: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /camera/data_throttled_image_relay
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Enabled: false
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Image Topic: /camera/data_throttled_image
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Value: true
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Transport Hint: compressed
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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@@ -303,14 +273,6 @@ Visualization Manager:
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Name: Info
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Topic: /rtabmap/info
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Value: true
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- Alpha: 0.7
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /rtabmap/grid_projection_map
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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@@ -331,7 +293,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rtabmap_ros/OrbitOriented
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Distance: 7.83194
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Distance: 7.89956
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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Stereo Focal Distance: 1
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@@ -343,10 +305,10 @@ Visualization Manager:
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Z: -0.0896359
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.699796
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Pitch: 0.819797
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Target Frame: base_link
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Value: OrbitOriented (rtabmap)
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Yaw: 3.19875
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Yaw: 3.14375
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Saved: ~
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Window Geometry:
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Displays:
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@@ -356,7 +318,7 @@ Window Geometry:
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002dd000000dd00fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@@ -367,4 +329,4 @@ Window Geometry:
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collapsed: false
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Width: 1561
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X: 42
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Y: 108
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Y: 107
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