mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
ros-pkg: updated azimut3 nav launch files
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2004 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -2,24 +2,32 @@
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<launch>
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<!-- Remote teleop -->
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- Visualisation (client side) -->
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<group ns="rtabmap">
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
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<!-- a relay on this machine, same for images -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<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" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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@@ -1,33 +0,0 @@
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<launch>
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<!-- Remote teleop -->
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
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<!-- a relay on this machine, same for images -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<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" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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@@ -0,0 +1,9 @@
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<launch>
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<!-- relays -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
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<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" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_stereo_nav.rviz"/>
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</launch>
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@@ -71,12 +71,6 @@
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</node>
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</group>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData"/>
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<remap from="grid_map" to="map"/>
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</node>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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@@ -88,7 +82,7 @@
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="mapData" to="mapData_notOptimized"/>
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<remap from="mapData" to="mapData"/>
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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@@ -111,35 +105,42 @@
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<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
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<param name="Kp/DetectorStrategy" type="string" value="0"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Kp/NNStrategy" type="string" value="1"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Kp/NNStrategy" type="string" value="1"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
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<param name="SURF/HessianThreshold" type="string" value="1000"/>
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<param name="LccBow/MaxDepth" type="string" value="4"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="LccBow/MaxDepth" type="string" value="4"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/MaxWords" type="string" value="400"/>
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<param name="LccReextract/NNDR" type="string" value="0.8"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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<!-- Disable graph optimization because we use map_optimizer node below -->
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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</node>
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<!-- to always have the global map optimized -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
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<remap from="mapData" to="mapData_notOptimized"/>
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<remap from="mapData_notOptimized_optimized" to="mapData"/>
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</node>
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
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</group>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_optimized"/>
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<remap from="grid_map" to="map"/>
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</node>
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</launch>
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@@ -6,8 +6,9 @@ Panels:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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- /MapCloud1
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Splitter Ratio: 0.601881
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Tree Height: 181
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Tree Height: 337
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Views
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@@ -20,7 +21,7 @@ Panels:
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: Image
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SyncSource: PointCloud2
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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@@ -48,58 +49,31 @@ Visualization Manager:
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Plane Cell Count: 10
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Reference Frame: map
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Value: true
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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: 2.02684
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Min Value: -1.12646
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.34177e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /odom_last_frame
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/TF
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Enabled: true
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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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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 +102,13 @@ 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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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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{}
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@@ -148,8 +126,8 @@ 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: 5.45389
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Min Value: 4.86317
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Max Value: 4.1956
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Min Value: 1.5022
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Value: true
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Axis: X
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Channel Name: intensity
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@@ -178,45 +156,100 @@ Visualization Manager:
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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: false
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Enabled: true
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Name: Map
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Topic: /map
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Value: false
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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: costmap
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Draw Behind: false
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Enabled: false
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Enabled: true
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Name: Map
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Topic: /planner/move_base/local_costmap/costmap
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Value: false
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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: costmap
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Draw Behind: false
|
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Enabled: false
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Enabled: true
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Name: Map
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Topic: /planner/move_base/global_costmap/costmap
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Value: false
|
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Value: true
|
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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: false
|
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Enabled: true
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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
|
||||
Show Axes: false
|
||||
Show Trail: false
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Value: true
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||||
base_laser_link:
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Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
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Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
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||||
wheelLB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
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||||
Value: true
|
||||
wheelLB_wheel_link:
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||||
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:
|
||||
|
||||
@@ -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
|
||||
Reference in New Issue
Block a user