diff --git a/locker98_tools_bringup/launch/slam.launch.py b/locker98_tools_bringup/launch/slam.launch.py
new file mode 100644
index 0000000..5e2b8f2
--- /dev/null
+++ b/locker98_tools_bringup/launch/slam.launch.py
@@ -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
+ ])
diff --git a/locker98_tools_bringup/launch/slam.launch.xml b/locker98_tools_bringup/launch/slam.launch.xml
deleted file mode 100644
index 67e7033..0000000
--- a/locker98_tools_bringup/launch/slam.launch.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
diff --git a/locker98_tools_bringup/rviz/my_map.pgm b/locker98_tools_bringup/rviz/my_map.pgm
deleted file mode 100644
index f1133f3..0000000
Binary files a/locker98_tools_bringup/rviz/my_map.pgm and /dev/null differ
diff --git a/locker98_tools_bringup/rviz/my_map.yaml b/locker98_tools_bringup/rviz/my_map.yaml
deleted file mode 100644
index 0bac341..0000000
--- a/locker98_tools_bringup/rviz/my_map.yaml
+++ /dev/null
@@ -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
\ No newline at end of file
diff --git a/locker98_tools_bringup/rviz/nav2_config.rviz b/locker98_tools_bringup/rviz/nav2_config.rviz
index 9f73b51..fa41cfc 100644
--- a/locker98_tools_bringup/rviz/nav2_config.rviz
+++ b/locker98_tools_bringup/rviz/nav2_config.rviz
@@ -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:
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:
- 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
diff --git a/locker98_tools_bringup/rviz/slam_config.rviz b/locker98_tools_bringup/rviz/slam_config.rviz
new file mode 100644
index 0000000..8feaca5
--- /dev/null
+++ b/locker98_tools_bringup/rviz/slam_config.rviz
@@ -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:
+ 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:
+ 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