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ros-pkg: updated azimut3 nav launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2004 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 19:53:57 +00:00
parent c872819a54
commit c6c094f565
7 changed files with 602 additions and 140 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/config/azimut3_nav.rviz
+99 -66
View File
@@ -6,8 +6,9 @@ Panels:
Expanded:
- /Global Options1
- /TF1/Frames1
- /MapCloud1
Splitter Ratio: 0.601881
Tree Height: 181
Tree Height: 337
- Class: rviz/Selection
Name: Selection
- Class: rviz/Views
@@ -20,7 +21,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
SyncSource: PointCloud2
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
@@ -48,58 +49,31 @@ Visualization Manager:
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
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
stereo_camera:
Value: true
stereo_camera_base:
Value: true
wheelLB_linkWheel_link:
Value: true
wheelLB_wheel_link:
@@ -128,9 +102,13 @@ Visualization Manager:
base_link:
base_laser_link:
{}
stereo_camera_base:
stereo_camera:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
@@ -148,8 +126,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.45389
Min Value: 4.86317
Max Value: 4.1956
Min Value: 1.5022
Value: true
Axis: X
Channel Name: intensity
@@ -178,45 +156,100 @@ Visualization Manager:
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Enabled: true
Name: Map
Topic: /map
Value: false
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: false
Enabled: true
Name: Map
Topic: /planner/move_base/local_costmap/costmap
Value: false
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: false
Enabled: true
Name: Map
Topic: /planner/move_base/global_costmap/costmap
Value: false
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
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: false
Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: true
Image Topic: /stereo_camera/left/image_rect
Image Topic: /camera/data_throttled_image_relay
Max Value: 1
Median window: 5
Min Value: 0
@@ -255,7 +288,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData
Topic: /rtabmap/mapData_relay
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -304,14 +337,14 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Max Value: 4.11231
Min Value: -0.00766382
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 85; 255; 0
Color Transformer: FlatColor
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
@@ -326,7 +359,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /odom_local_map
Topic: /voxel_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -350,32 +383,32 @@ Visualization Manager:
Views:
Current:
Class: rtabmap/OrbitOriented
Distance: 6.10754
Distance: 10.327
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.963614
Y: -1.20902
Z: 0.399736
X: 1.29372
Y: -0.0308032
Z: -0.622506
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.559801
Pitch: 1.3098
Target Frame: base_footprint
Value: OrbitOriented (rtabmap)
Yaw: 3.13741
Yaw: 3.11245
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 535
Height: 826
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000151000001d1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f6000000dd00fffffffb0000000a0049006d0061006700650100000124000000d50000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000001d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000151000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000192000000dd00fffffffb0000000a0049006d00610067006501000001c00000015c0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
launch/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