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fixed launch files and rviz config

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This commit is contained in:
locker98 2024-12-19 10:00:35 -05:00
parent 8b5f01d0ec
commit c89934a284
6 changed files with 981 additions and 164 deletions
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49
locker98_tools_bringup/launch/slam.launch.py Normal file
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@ -0,0 +1,49 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
import os
def generate_launch_description():
# Declare arguments
use_sim_time = LaunchConfiguration('use_sim_time', default='False')
# Get package share directories
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
slam_toolbox_dir = get_package_share_directory('slam_toolbox')
locker98_tools_bringup_dir = get_package_share_directory('locker98_tools_bringup')
# Include the navigation launch file
navigation_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py')
),
launch_arguments={'use_sim_time': use_sim_time}.items()
)
# Include the SLAM toolbox launch file
slam_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(slam_toolbox_dir, 'launch', 'online_async_launch.py')
),
launch_arguments={'use_sim_time': use_sim_time}.items()
)
# RViz2 node
rviz2_node = Node(
package='rviz2',
executable='rviz2',
output='screen',
arguments=[
'-d', os.path.join(locker98_tools_bringup_dir, 'rviz', 'slam_config.rviz')
]
)
return LaunchDescription([
DeclareLaunchArgument('use_sim_time', default_value='False', description='Use simulation time'),
navigation_launch,
slam_launch,
rviz2_node
])

12
locker98_tools_bringup/launch/slam.launch.xml
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@ -1,12 +0,0 @@
<launch>
<arg name="use_sim_time" default="False" />
<arg name="map"/>
<include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py">
<arg name="map" value="$(arg map)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
</include>
<!--<node pkg="rviz2" executable="rviz2" output="screen" args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
-->
</launch>

BIN
locker98_tools_bringup/rviz/my_map.pgm
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7
locker98_tools_bringup/rviz/my_map.yaml
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@ -1,7 +0,0 @@
image: my_map.pgm
mode: trinary
resolution: 0.05
origin: [-3.25, -3.99, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

578
locker98_tools_bringup/rviz/nav2_config.rviz
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@ -1,23 +1,18 @@
Panels:
- Class: rviz_common/Displays
Help Height: 87
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Map1
- /Map1/Topic1
- /LaserScan1
- /Global cost map1
- /Local Cost Map1
Splitter Ratio: 0.5
Tree Height: 637
- /TF1/Frames1
- /TF1/Tree1
Splitter Ratio: 0.5833333134651184
Tree Height: 351
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
@ -26,11 +21,8 @@ Panels:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
- Class: nav2_rviz_plugins/Navigation 2
Name: Navigation 2
Visualization Manager:
Class: ""
Displays:
@ -52,26 +44,73 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: /robot_description
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: ""
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: true
base_link:
Value: true
base_scan:
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
caster_back_left_link:
Value: true
caster_back_right_link:
Value: true
imu_link:
Value: true
odom:
Value: true
wheel_left_link:
Value: true
wheel_right_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@ -96,124 +135,384 @@ Visualization Manager:
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Style: Points
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/TF
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
base_scan:
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
caster_back_left_link:
Value: true
caster_back_right_link:
Value: true
imu_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_left_link:
Value: true
wheel_right_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
map:
odom:
base_footprint:
base_link:
base_scan:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
caster_back_left_link:
{}
caster_back_right_link:
{}
imu_link:
{}
wheel_left_link:
{}
wheel_right_link:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Global cost map
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Bumper Hit
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.07999999821186066
Style: Spheres
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Value: /map_updates
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
- Alpha: 1
Class: nav2_rviz_plugins/ParticleCloud
Color: 0; 180; 0
Enabled: true
Name: Local Cost Map
Max Arrow Length: 0.30000001192092896
Min Arrow Length: 0.019999999552965164
Name: Amcl Particle Swarm
Shape: Arrow (Flat)
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Reliability Policy: Best Effort
Value: /particle_cloud
Value: true
- Class: rviz_common/Group
Displays:
- Alpha: 0.30000001192092896
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Global Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 0.30000001192092896
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Downsampled Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /downsampled_costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /downsampled_costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.019999999552965164
Head Length: 0.019999999552965164
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.004999999888241291
Shaft Length: 0.019999999552965164
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
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_default_plugins/PointCloud2
Color: 125; 125; 125
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: VoxelGrid
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/voxel_marked_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: false
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/published_footprint
Value: false
Enabled: true
Name: Global Planner
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Local Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_plan
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Trajectories
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /marker
Value: false
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/published_footprint
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_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
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: VoxelGrid
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/voxel_marked_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Controller
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: RealsenseCamera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /intel_realsense_r200_depth/image_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: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
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: RealsenseDepthImage
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /intel_realsense_r200_depth/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Realsense
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: MarkerArray
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: /waypoints
Value: true
Enabled: true
Global Options:
@ -222,8 +521,6 @@ Visualization Manager:
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
@ -239,13 +536,6 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
@ -254,48 +544,46 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
- Class: nav2_rviz_plugins/GoalTool
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 6.541196823120117
Angle: -1.5707999467849731
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.873987078666687
Y: 1.3103702068328857
Z: -0.06853076070547104
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.421534776687622
Scale: 160
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.7348731160163879
Value: TopDownOrtho (rviz_default_plugins)
X: 0
Y: 0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1001
Height: 932
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000323fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000323000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011000000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004e00000323000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005040000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
Hide Right Dock: true
Navigation 2:
collapsed: false
Time:
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000032dfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e000001ae000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001fd0000017e0000017e01000003fb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002e01000003000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000049e0000032d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RealsenseCamera:
collapsed: false
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 0
collapsed: true
Width: 1545
X: 375
Y: 69

499
locker98_tools_bringup/rviz/slam_config.rviz Normal file
View File

@ -0,0 +1,499 @@
Panels:
- Class: rviz_common/Displays
Help Height: 87
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /LaserScan1/Topic1
- /Cartographer1
- /Cartographer1/scan_matched_points21
Splitter Ratio: 0.3916349709033966
Tree Height: 716
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
- /2D Pose Estimate1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
base_scan:
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
caster_back_left_link:
Value: true
caster_back_right_link:
Value: true
imu_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_left_link:
Value: true
wheel_right_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_scan:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
caster_back_left_link:
{}
caster_back_right_link:
{}
imu_link:
{}
wheel_left_link:
{}
wheel_right_link:
{}
Update Interval: 0
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_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.019999999552965164
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /odom
Value: false
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: true
- Class: rviz_common/Group
Displays:
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_plan
Value: true
Enabled: true
Name: Global Map
- Class: rviz_common/Group
Displays:
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/footprint
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_plan
Value: true
Enabled: true
Name: Local Map
- Alpha: 1
Arrow Length: 0.05000000074505806
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz_default_plugins/PoseArray
Color: 0; 192; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /particlecloud
Value: true
Enabled: false
Name: Navigation
- Class: rviz_common/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.18203988671302795
Min Value: 0.18195410072803497
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 0; 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: scan_matched_points2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan_matched_points2
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Trajectories
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /trajectory_node_list
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Constraints
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /constraint_list
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Landmark Poses
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /landmark_poses_list
Value: false
Enabled: true
Name: Cartographer
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: initialpose
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Angle: 0
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 119.26066589355469
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz_default_plugins)
X: 0.0023878198117017746
Y: -0.17037495970726013
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1001
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000017a00000372fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000372000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000236fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000236000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006050000037200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 0