diff --git a/launch/iri_mht_and_ASPSI_test_bags_laser_Terrinet.launch b/launch/iri_mht_and_ASPSI_test_bags_laser_Terrinet.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6c885cd95233a30563b92f8695c1d005d68c398b
--- /dev/null
+++ b/launch/iri_mht_and_ASPSI_test_bags_laser_Terrinet.launch
@@ -0,0 +1,262 @@
+<!-- -->
+<launch>
+
+ <param name="use_sim_time" value="true"/>
+
+ <node pkg="rosbag"
+ type="play"
+ name="rosbag"
+ args="--pause -l -q --clock -r 1 $(find iri_people_tracking_mht)/bags_terrinet_de_Luca/DIAG-corr-pt_1.bag"
+ >
+
+ <!-- -s (segundos inicio) pause : rosbags starts in pause-->
+
+ <!-- rosbags to use: -->
+ <!-- DIAG-corr-static-p1_01.bag
+ DIAG-corr-static-p1_02.bag
+ DIAG-room-static-p1_01.bag
+ DIAG-room-static-p1_02.bag
+ DIAG-corr-moving-p1_01.bag
+ DIAG-corr-moving-p1_02.bag
+
+rosbags with tf:
+Home-moving-tf_01.bag
+Home-moving-tf_02.bag
+Home-moving-tf_03.bag
+
+Readme from Luca:
+
+Bags with people moving in the DIAG corridor
+
+DIAG-corr-pt_1.bag: /odom /scam /cmd_vel /tf
+DIAG-corr-pt_2.bag /odom /scam /cmd_vel /tf
+
+Maps (they are actually the same, 1st one seems good)
+
+DIAG-corr-map_1.yaml / DIAG-corr-map_1.pgm
+DIAG-corr-map_2.yaml / DIAG-corr-map_2.pgm
+
+The bags above starts from the origin of the map. So if you want to run a localizer, just start it with above map and use default initial pose (0,0,0).
+
+Bags with all topics and tf including localization
+
+DIAG-corr-pt_1_all.bag
+DIAG-corr-pt_2_all.bag
+
+
+
+-->
+
+ </node>
+
+
+
+ <!-- People Tracking MHT (remap) -->
+ <!-- published topics: /$(env ROBOT)/mht/tracks -->
+ <!-- subscribed topics: /$(env ROBOT)/detections -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_people_tracking_mht"
+ type="iri_people_tracking_mht"
+ name="mht_2"
+ output="screen">
+ <remap from="/mht_2/detections"
+ to="/lpd_2/peopleMapFiltered" />
+ <remap from="/mht_2/odom"
+ to="/odom" /> <!-- /topic-odometry-of-the-robot -->
+ <remap from="/mht_2/odom_for_medium_velocity"
+ to="/odom" /> <!-- /topic-odometry-of-the-robot -->
+
+ <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
+ <param name="~/frame_id" type="string" value="/map" /> <!-- tf of the map for the tracker -->
+ <param name="local_tracker" type="bool" value="false"/>
+ <param name="~/association_threshold" type="double" value="1.0" />
+ <param name="~/confirmation_threshold" type="double" value="0.9" />
+ <param name="~/deletion_threshold" type="double" value="0.4" />
+ <param name="~/laser_probability" type="double" value="0.9" />
+ <param name="~/laser_false_alarm" type="double" value="0.1" />
+ <param name="~/laser_new_track" type="double" value="0.11" />
+ <param name="~/laser_no_detection" type="double" value="0.97" />
+ <param name="~/laser_no_confirmed" type="double" value="0.02" />
+ <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
+ <param name="~/augment_covariance_track" type="double" value="0.5" />
+ <param name="~/mht_velocity_margin" type="double" value="1.0" />
+ <param name="~/covariance_no_track" type="double" value="5.0" />
+ </node>
+
+ <!-- Laser People Detector (remap) -->
+ <!-- published topics: /$(env ROBOT)/people -->
+ <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_laser_people_detection"
+ type="iri_laser_people_detection"
+ name="lpd_2"
+ output="screen"
+ >
+
+ <param name="~/rangeThreshold" type="double" value="0.0" />
+ <param name="~/detectionThreshold" type="double" value="-0.07" />
+ <param name="~/personRadius" type="double" value="0.7" />
+ <!-- load different trained detectors (to switch at rangeThreshold) -->
+ <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
+ <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
+ <!-- transform detections to base_link frame -->
+ <param name="~/selectPosesFrame" type="bool" value="False" />
+ <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
+ <param name="~/selectScanFrame" type="bool" value="False" />
+ <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
+ <!-- visualization -->
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="0.4" />
+ <param name="~/markerR" type="double" value="0.0" />
+ <param name="~/markerG" type="double" value="0.0" />
+ <param name="~/markerB" type="double" value="0.5" />
+ <param name="~/markerA" type="double" value="0.5" />
+ <!-- filter detections by range/x/y -->
+ <param name="~/filterPosesMode" type="bool" value="False" />
+ <param name="~/filterR" type="double" value="0.0" />
+ <param name="~/filterX" type="double" value="0.0" />
+ <param name="~/filterY" type="double" value="0.0" />
+
+ <remap from="/lpd_2/scan"
+ to="/scan" /> <!-- topic: scan del robot -->
+ <remap from="/lpd_2/people"
+ to="/lpd_2/people" />
+ </node>
+
+
+
+ <!-- Laser People map Filter -->
+ <!-- published topics: /$(env ROBOT)/peopleFiltered -->
+ <!-- subscribed topics: /$(env ROBOT)/people -->
+ <!-- /$(env ROBOT)map -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_laser_people_map_filter"
+ type="iri_laser_people_map_filter"
+ name="laser_people_map_filter">
+
+ <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
+ <param name="~/neighborRadius" type="double" value="0.3" />
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="1.5" />
+ <param name="~/markerR" type="double" value="1.0" />
+ <param name="~/markerG" type="double" value="1.0" />
+ <param name="~/markerB" type="double" value="0.0" />
+ <param name="~/markerA" type="double" value="0.9" />
+ <param name="~/markerLifeTime" type="double" value="0.1" />
+
+
+ <remap from="/laser_people_map_filter/people"
+ to="/lpd_2/people" />
+ <remap from="/laser_people_map_filter/peopleFiltered"
+ to="/lpd_2/peopleMapFiltered" />
+ <remap from="/laser_people_map_filter/map"
+ to="/map" /> <!-- topic of the map -->
+
+ </node>
+
+
+<!--map_server-->
+ <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl_terrinet.launch">
+ <arg name="x" value="0.0"/>
+ <arg name="y" value="0.0"/>
+ <arg name="a" value="0.0"/>
+ </include>
+ <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server_terrinet.launch">
+ <arg name="map" value="DIAG-corr-map_1"/>
+ </include>
+
+ <!--/nav-Companion-node:-->
+ <!--output="screen"-->
+ <node pkg ="move_base"
+ type="move_base"
+ name="move_base"
+ output="screen">
+ <remap from="/cmd_vel"
+ to="/cmd_vel" />
+ <remap from="/odom"
+ to="/odom" />
+ <remap from="/front_scan"
+ to="/scan" />
+ <remap from="/rear_scan"
+ to="/scan" />
+ <remap from="/tracks"
+ to="/mht_2/tracks" />
+ <remap from="/map"
+ to="/map" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/costmap_common_params_terrinet.yaml" command="load" ns="global_costmap" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/local_costmap_params_terrinet.yaml" command="load" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/global_costmap_params_terrinet.yaml" command="load" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
+
+ <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/terrinet_corridor_dest.txt" />
+<param name="AkpLocalPlanner/results_filename_Zanlungo" value="/home/erepiso/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/local_lib_ATR_7_junio/1_data_results_Vform/results_person_companion_Vform.txt" />
+ <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
+ <param name="AkpLocalPlanner/person_goal_id" value="200"/>
+ <param name="AkpLocalPlanner/speed_k" value="1"/>
+
+ <param name="AkpLocalPlanner/radi_to_detect_other_people_no_companions" value="4.0"/> <!-- radi to detect people like obstacles-->
+ <param name="AkpLocalPlanner/detection_laser_obstacle_distances" value="2.0"/> <!-- radi to detect static obstacles-->
+<param name="AkpLocalPlanner/in_change_dynamically_final_dest" value="False"/> <!-- To true if you use the distance_to_dynamic_goal_Vform-->
+ <param name="AkpLocalPlanner/distance_to_dynamic_goal_Vform" value="0.0"/> <!-- dynamic goal from static goals of the environment to obtain a good sid-by-side formation (In narrow corridor 0.0, to do not collide with the walls at the sides of the two final static obstacles of the environment.-->
+ <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
+ <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
+ <param name="AkpLocalPlanner/proximity_distance_between_robot_and_person" value="0.7"/> <!-- accompaniment distance-->
+ <!-- for SIM-->
+ <param name="AkpLocalPlanner/change_sim" value="False"/>
+ <param name="AkpLocalPlanner/sim_target_per" value="False"/>
+ <param name="AkpLocalPlanner/frame_map" type="string" value="/map" />
+ <param name="AkpLocalPlanner/frame_robot_footprint" type="string" value="/base_frame" />
+ </node>
+
+ <!--to do not collide in any case-->
+ <!-- <node pkg="iri_safe_cmd"
+ type="iri_safe_cmd"
+ name="iri_safe_cmd_nav"
+ >
+ <param name="unsafe" type="bool" value="false"/>
+ <param name="min_dist" type="double" value="0.5"/>
+ <param name="collision_time" type="double" value="1.5"/>
+ <param name="limit_vel_front" type="double" value="1.0"/>
+ <param name="limit_vel_rear" type="double" value="-1.0"/>
+ <param name="front_laser_watchdog_time" type="double" value="1.0"/>
+ <param name="rear_laser_watchdog_time" type="double" value="1.0"/>-->
+ <!--<param name="base_frame" type="str_t" value="tibi/base_link"/>-->
+ <!-- <remap from="~cmd_vel_safe" to="/$(env ROBOT)/segway/cmd_vel"/>
+ <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
+ <remap from="~rear_laser" to="/scan"/>
+ <remap from="~front_laser" to="/scan"/>
+ </node> -->
+
+ <!--hri-->
+ <!-- <include file="$(find tibi_dabo_hri_node)/launch/tibi_dabo_hri_node.launch"/>
+ <include file="$(find tibi_dabo_hri_database)/launch/tibi_dabo_hri_database_ely.launch">
+ <arg name="demo" default="Ely_side_Vform"/>
+ </include>
+ <include file="$(find tibi_dabo_hri_teleop_companion)/launch/tibi_dabo_hri_teleop_ely.launch"/> -->
+
+ <!-- node states companion -->
+ <!-- <include file="$(find iri_state_machine_companion)/launch/tibi_dabo_state_machine_companion.launch"/>-->
+
+
+
+ <node name="rviz"
+ pkg ="rviz"
+ type="rviz"
+ args="-d $(find iri_people_tracking_mht)/config/test_terrinet.rviz" />/>
+<!-- tibi_local.vcg-->
+ <node name="reconfigure_gui"
+ pkg ="rqt_reconfigure"
+ type="rqt_reconfigure" />
+
+
+</launch>
diff --git a/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch b/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch
new file mode 100644
index 0000000000000000000000000000000000000000..15bd8f195632d435f17a053937d4779ee2ae51e8
--- /dev/null
+++ b/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch
@@ -0,0 +1,69 @@
+<!-- -->
+<launch>
+
+ <arg name="map" default="fme_open2" />
+
+ <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
+
+ <group ns="$(optenv ROBOT tibi)">
+
+ <!--launch-prefix="xterm -e ddd -args" -->
+ <!--output="screen"-->
+ <node pkg ="move_base"
+ type="move_base"
+ name="move_base"
+ output="screen">
+ <remap from="/$(optenv ROBOT tibi)/cmd_vel"
+ to="/$(optenv ROBOT tibi)/navigation/cmd_vel_unsafe" />
+ <remap from="/$(optenv ROBOT tibi)/odom"
+ to="/$(optenv ROBOT tibi)/segway/odom" />
+ <remap from="/$(optenv ROBOT tibi)/front_scan"
+ to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
+ <remap from="/$(optenv ROBOT tibi)/rear_scan"
+ to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
+ <remap from="/$(optenv ROBOT tibi)/tracks"
+ to="/$(optenv ROBOT tibi)/mht/tracks" />
+ <remap from="/$(optenv ROBOT tibi)/cmd_vel_stop"
+ to="/turtlebot_teleop_keyboard/cmd_vel2"/>
+
+ <remap from="/$(optenv ROBOT tibi)/tibi_pose_for_sim"
+ to="/$(optenv ROBOT tibi)/initialpose"/>
+
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
+ <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
+ <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/master_big_destinations_Gazebo_sim2.txt" />
+ <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
+ <param name="AkpLocalPlanner/speed_k" value="1"/> <!--MUY importante: en sim, speed_k=1.0; en robot real, speed_k=1.5; is due to our robot-velocity controller that divides the velocity by 2.-->
+ <!-- for SIM-->
+ <param name="AkpLocalPlanner/change_sim" value="False"/>
+ <param name="AkpLocalPlanner/sim_target_per" value="False"/>
+ </node>
+
+
+ <node pkg="iri_safe_cmd"
+ type="iri_safe_cmd"
+ name="iri_safe_cmd_nav"
+ >
+ <param name="unsafe" type="bool" value="false"/>
+ <param name="min_dist" type="double" value="0.5"/>
+ <param name="collision_time" type="double" value="1.5"/>
+ <param name="limit_vel_front" type="double" value="1.0"/>
+ <param name="limit_vel_rear" type="double" value="-1.0"/>
+ <param name="front_laser_watchdog_time" type="double" value="1.0"/>
+ <param name="rear_laser_watchdog_time" type="double" value="1.0"/>
+ <param name="base_frame" type="string" value="tibi/base_link"/>
+ <remap from="~cmd_vel_safe" to="/$(env ROBOT)/segway/cmd_vel"/>
+ <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
+ <remap from="~rear_laser" to="/$(env ROBOT)/sensors/rear_laser_scan"/>
+ <remap from="~front_laser" to="/$(env ROBOT)/sensors/front_laser_scan"/>
+ </node>
+
+
+
+ </group>
+
+</launch>
diff --git a/launch/tracker_nav_and_detection_for_ASPSI.launch b/launch/tracker_nav_and_detection_for_ASPSI.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a687b2833f090317422f5bf0242a7e9a9ad4eb2a
--- /dev/null
+++ b/launch/tracker_nav_and_detection_for_ASPSI.launch
@@ -0,0 +1,191 @@
+<!-- -->
+<launch>
+
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_name" default="fme"/>
+ <arg name="initial_x" default="-1.5"/>
+ <arg name="initial_y" default="6.0"/>
+ <arg name="initial_yaw" default="-1.57"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_rosnav)/launch/nav.launch">
+ <arg name="ns" value="ana"/>
+ <arg name="path" value="$(find iri_ana_rosnav)/params"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="odom_frame_id" value="ana/odom"/>
+ <arg name="base_frame_id" value="ana/base_footprint"/>
+ <arg name="map_topic" value="/ana/map"/>
+ <arg name="map_service" value="/ana/static_map"/>
+ <arg name="odom_topic" value="/ana/odom"/>
+ <arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
+ <arg name="scan_topic" value="/ana/sensors/scan"/>
+ <arg name="use_map" value="true"/>
+ <arg name="use_map_server" value="true"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="use_amcl" value="true"/>
+ <arg name="amcl_config" value="$(find iri_ana_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml"/>
+ <arg name="initial_x" value="$(arg initial_x)"/>
+ <arg name="initial_y" value="$(arg initial_y)"/>
+ <arg name="initial_yaw" value="$(arg initial_yaw)"/>
+ <arg name="use_fake_loc" value="false"/>
+ <arg name="use_gmapping" value="false"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+ <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="ana"/>
+ <arg name="node_name" value="pcl_to_laserscan"/>
+ <arg name="scan_topic" value="/ana/sensors/scan"/>
+ <arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
+ <arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+<group ns="$(optenv ROBOT ana)">
+ <!-- People Tracking MHT (remap) -->
+ <!-- published topics: /$(env ROBOT)/mht/tracks -->
+ <!-- subscribed topics: /$(env ROBOT)/detections -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_people_tracking_mht"
+ type="iri_people_tracking_mht"
+ name="mht"
+ output="screen">
+ <remap from="/ana/mht/detections"
+ to="/ana/lpd/peopleMapFiltered" />
+ <remap from="/ana/mht/odom"
+ to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
+ <remap from="/ana/mht/odom_for_medium_velocity"
+ to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
+
+ <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
+ <param name="~/frame_id" type="string" value="map" /> <!-- tf of the map for the tracker -->
+ <param name="local_tracker" type="bool" value="false"/>
+ <param name="~/association_threshold" type="double" value="1.0" />
+ <param name="~/confirmation_threshold" type="double" value="0.9" />
+ <param name="~/deletion_threshold" type="double" value="0.4" />
+ <param name="~/laser_probability" type="double" value="0.9" />
+ <param name="~/laser_false_alarm" type="double" value="0.1" />
+ <param name="~/laser_new_track" type="double" value="0.11" />
+ <param name="~/laser_no_detection" type="double" value="0.97" />
+ <param name="~/laser_no_confirmed" type="double" value="0.02" />
+ <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
+ <param name="~/augment_covariance_track" type="double" value="0.5" />
+ <param name="~/mht_velocity_margin" type="double" value="1.0" />
+ <param name="~/covariance_no_track" type="double" value="5.0" />
+ </node>
+
+ <!-- Laser People Detector (remap) -->
+ <!-- published topics: /$(env ROBOT)/people -->
+ <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_laser_people_detection"
+ type="iri_laser_people_detection"
+ name="lpd"
+ output="screen"
+ >
+
+ <param name="~/rangeThreshold" type="double" value="0.0" />
+ <param name="~/detectionThreshold" type="double" value="-0.07" />
+ <param name="~/personRadius" type="double" value="0.7" />
+ <!-- load different trained detectors (to switch at rangeThreshold) -->
+ <param name="~/boostFilePath" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile.txt" />
+ <param name="~/boostFilePath2" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile2.txt" />
+ <!-- transform detections to base_link frame -->
+ <param name="~/selectPosesFrame" type="bool" value="False" />
+ <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
+ <param name="~/selectScanFrame" type="bool" value="False" />
+ <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
+ <!-- visualization -->
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="0.4" />
+ <param name="~/markerR" type="double" value="0.0" />
+ <param name="~/markerG" type="double" value="0.0" />
+ <param name="~/markerB" type="double" value="0.5" />
+ <param name="~/markerA" type="double" value="0.5" />
+ <!-- filter detections by range/x/y -->
+ <param name="~/filterPosesMode" type="bool" value="False" />
+ <param name="~/filterR" type="double" value="0.0" />
+ <param name="~/filterX" type="double" value="0.0" />
+ <param name="~/filterY" type="double" value="0.0" />
+
+ <remap from="/ana/lpd/scan"
+ to="/ana/sensors/scan" /> <!-- topic: scan del robot -->
+ <remap from="/ana/lpd/people"
+ to="/ana/lpd/people" />
+ </node>
+
+
+
+ <!-- Laser People map Filter -->
+ <!-- published topics: /$(env ROBOT)/peopleFiltered -->
+ <!-- subscribed topics: /$(env ROBOT)/people -->
+ <!-- /$(env ROBOT)map -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_laser_people_map_filter"
+ type="iri_laser_people_map_filter"
+ name="lpmf">
+
+ <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
+ <param name="~/neighborRadius" type="double" value="0.3" />
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="1.5" />
+ <param name="~/markerR" type="double" value="1.0" />
+ <param name="~/markerG" type="double" value="1.0" />
+ <param name="~/markerB" type="double" value="0.0" />
+ <param name="~/markerA" type="double" value="0.9" />
+ <param name="~/markerLifeTime" type="double" value="0.1" />
+
+
+ <remap from="/ana/lpmf/people"
+ to="/ana/lpd/people" />
+ <remap from="/ana/lpmf/people_out"
+ to="/ana/lpd/peopleMapFiltered" />
+ <remap from="/ana/lpmf/map"
+ to="/ana/map" /> <!-- topic of the map -->
+
+ </node>
+ </group>
+
+ <!-- Ini Navigation Companion Nodes -->
+
+
+
+ <!-- <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ if="$(arg rviz)"
+ args="-d $(arg rviz_file)">
+ </node>-->
+
+<node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ if="$(arg rviz)"
+ args="-d $(find iri_robot_aspsi)/rviz/ana.rviz">
+ </node>
+</launch>
diff --git a/launch/tracker_nav_and_detection_for_ASPSI_brl.launch b/launch/tracker_nav_and_detection_for_ASPSI_brl.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ced6e81d321a159e31a8bbda78765d51c95469e0
--- /dev/null
+++ b/launch/tracker_nav_and_detection_for_ASPSI_brl.launch
@@ -0,0 +1,191 @@
+<!-- -->
+<launch>
+
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_name" default="master_big"/>
+ <arg name="initial_x" default="20.5"/>
+ <arg name="initial_y" default="39.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_rosnav)/launch/nav.launch">
+ <arg name="ns" value="ana"/>
+ <arg name="path" value="$(find iri_ana_rosnav)/params"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="odom_frame_id" value="ana/odom"/>
+ <arg name="base_frame_id" value="ana/base_footprint"/>
+ <arg name="map_topic" value="/ana/map"/>
+ <arg name="map_service" value="/ana/static_map"/>
+ <arg name="odom_topic" value="/ana/odom"/>
+ <arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
+ <arg name="scan_topic" value="/ana/sensors/scan"/>
+ <arg name="use_map" value="true"/>
+ <arg name="use_map_server" value="true"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="use_amcl" value="true"/>
+ <arg name="amcl_config" value="$(find iri_ana_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml"/>
+ <arg name="initial_x" value="$(arg initial_x)"/>
+ <arg name="initial_y" value="$(arg initial_y)"/>
+ <arg name="initial_yaw" value="$(arg initial_yaw)"/>
+ <arg name="use_fake_loc" value="false"/>
+ <arg name="use_gmapping" value="false"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+ <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="ana"/>
+ <arg name="node_name" value="pcl_to_laserscan"/>
+ <arg name="scan_topic" value="/ana/sensors/scan"/>
+ <arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
+ <arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+<group ns="$(optenv ROBOT ana)">
+ <!-- People Tracking MHT (remap) -->
+ <!-- published topics: /$(env ROBOT)/mht/tracks -->
+ <!-- subscribed topics: /$(env ROBOT)/detections -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_people_tracking_mht"
+ type="iri_people_tracking_mht"
+ name="mht"
+ output="screen">
+ <remap from="/ana/mht/detections"
+ to="/ana/lpd/peopleMapFiltered" />
+ <remap from="/ana/mht/odom"
+ to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
+ <remap from="/ana/mht/odom_for_medium_velocity"
+ to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
+
+ <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
+ <param name="~/frame_id" type="string" value="map" /> <!-- tf of the map for the tracker -->
+ <param name="local_tracker" type="bool" value="false"/>
+ <param name="~/association_threshold" type="double" value="1.0" />
+ <param name="~/confirmation_threshold" type="double" value="0.9" />
+ <param name="~/deletion_threshold" type="double" value="0.4" />
+ <param name="~/laser_probability" type="double" value="0.9" />
+ <param name="~/laser_false_alarm" type="double" value="0.1" />
+ <param name="~/laser_new_track" type="double" value="0.11" />
+ <param name="~/laser_no_detection" type="double" value="0.97" />
+ <param name="~/laser_no_confirmed" type="double" value="0.02" />
+ <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
+ <param name="~/augment_covariance_track" type="double" value="0.5" />
+ <param name="~/mht_velocity_margin" type="double" value="1.0" />
+ <param name="~/covariance_no_track" type="double" value="5.0" />
+ </node>
+
+ <!-- Laser People Detector (remap) -->
+ <!-- published topics: /$(env ROBOT)/people -->
+ <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_laser_people_detection"
+ type="iri_laser_people_detection"
+ name="lpd"
+ output="screen"
+ >
+
+ <param name="~/rangeThreshold" type="double" value="0.0" />
+ <param name="~/detectionThreshold" type="double" value="-0.07" />
+ <param name="~/personRadius" type="double" value="0.7" />
+ <!-- load different trained detectors (to switch at rangeThreshold) -->
+ <param name="~/boostFilePath" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile.txt" />
+ <param name="~/boostFilePath2" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile2.txt" />
+ <!-- transform detections to base_link frame -->
+ <param name="~/selectPosesFrame" type="bool" value="False" />
+ <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
+ <param name="~/selectScanFrame" type="bool" value="False" />
+ <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
+ <!-- visualization -->
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="0.4" />
+ <param name="~/markerR" type="double" value="0.0" />
+ <param name="~/markerG" type="double" value="0.0" />
+ <param name="~/markerB" type="double" value="0.5" />
+ <param name="~/markerA" type="double" value="0.5" />
+ <!-- filter detections by range/x/y -->
+ <param name="~/filterPosesMode" type="bool" value="False" />
+ <param name="~/filterR" type="double" value="0.0" />
+ <param name="~/filterX" type="double" value="0.0" />
+ <param name="~/filterY" type="double" value="0.0" />
+
+ <remap from="/ana/lpd/scan"
+ to="/ana/sensors/scan" /> <!-- topic: scan del robot -->
+ <remap from="/ana/lpd/people"
+ to="/ana/lpd/people" />
+ </node>
+
+
+
+ <!-- Laser People map Filter -->
+ <!-- published topics: /$(env ROBOT)/peopleFiltered -->
+ <!-- subscribed topics: /$(env ROBOT)/people -->
+ <!-- /$(env ROBOT)map -->
+ <!-- service clients: -->
+ <!-- service servers: -->
+ <!-- action clients: -->
+ <!-- action servers: -->
+ <node pkg ="iri_laser_people_map_filter"
+ type="iri_laser_people_map_filter"
+ name="lpmf">
+
+ <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
+ <param name="~/neighborRadius" type="double" value="0.3" />
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="1.5" />
+ <param name="~/markerR" type="double" value="1.0" />
+ <param name="~/markerG" type="double" value="1.0" />
+ <param name="~/markerB" type="double" value="0.0" />
+ <param name="~/markerA" type="double" value="0.9" />
+ <param name="~/markerLifeTime" type="double" value="0.1" />
+
+
+ <remap from="/ana/lpmf/people"
+ to="/ana/lpd/people" />
+ <remap from="/ana/lpmf/people_out"
+ to="/ana/lpd/peopleMapFiltered" />
+ <remap from="/ana/lpmf/map"
+ to="/ana/map" /> <!-- topic of the map -->
+
+ </node>
+ </group>
+
+ <!-- Ini Navigation Companion Nodes -->
+
+
+
+ <!-- <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ if="$(arg rviz)"
+ args="-d $(arg rviz_file)">
+ </node>-->
+
+<node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ if="$(arg rviz)"
+ args="-d $(find iri_robot_aspsi)/rviz/ana.rviz">
+ </node>
+</launch>
diff --git a/maps/destinaciones_ana_FME_ubuntu18_ros_melodic.txt b/maps/destinaciones_ana_FME_ubuntu18_ros_melodic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd0290bdcb76c8386e76c99e4e4ac2328c914df8
--- /dev/null
+++ b/maps/destinaciones_ana_FME_ubuntu18_ros_melodic.txt
@@ -0,0 +1,11 @@
+2
+0, 0.5, 8.0, 0.25, 1, 1
+1, 0.5, -6.0, 0.25, 1, 0
+
+
+
+
+
+
+
+
diff --git a/maps/master_big_destinations_Gazebo_sim_more_dest.txt b/maps/master_big_destinations_Gazebo_sim_more_dest.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f552b725b19ab27e58f6d266b663af28913e77fc
--- /dev/null
+++ b/maps/master_big_destinations_Gazebo_sim_more_dest.txt
@@ -0,0 +1,8 @@
+4
+0, 55.0, 37.5, 0.25, 3, 1, 2, 3
+1, 19.0, 37.5, 0.25, 3, 0, 2, 3
+2, 35.5, 13.5, 0.25, 3, 0, 1, 3
+3, 33.0, 50.5, 0.25, 3, 0, 1, 2
+
+
+
diff --git a/rviz/ana.rviz b/rviz/ana.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..26205a0716b33b0eb66c9fea40dcbafcc1e5d807
--- /dev/null
+++ b/rviz/ana.rviz
@@ -0,0 +1,1125 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ - /Sensors1
+ - /3dnav_detection1/camera1
+ - /People_detection1
+ - /People_detection1/mht1
+ Splitter Ratio: 0.5040000081062317
+ Tree Height: 771
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+ - Class: rviz_plugin_tutorials/Teleop
+ Name: Teleop
+ Topic: ""
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/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: 1000
+ Reference Frame: <Fixed Frame>
+ 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
+ ana_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ana_realsense_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_pan_tilt_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_color_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_color_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_sonar:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_bno055:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_bno055_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ realsense_support_pan_tilt:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_left_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_sonar:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tilt_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_plate:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: ana/robot_description
+ TF Prefix: ana
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ ana/ana_box:
+ Value: true
+ ana/ana_realsense_support:
+ Value: true
+ ana/base_footprint:
+ Value: true
+ ana/base_link:
+ Value: true
+ ana/camera_bottom_screw_frame:
+ Value: true
+ ana/camera_color_frame:
+ Value: true
+ ana/camera_color_optical_frame:
+ Value: true
+ ana/camera_depth_frame:
+ Value: true
+ ana/camera_depth_optical_frame:
+ Value: true
+ ana/camera_infra1_frame:
+ Value: true
+ ana/camera_infra1_optical_frame:
+ Value: true
+ ana/camera_infra2_frame:
+ Value: true
+ ana/camera_infra2_optical_frame:
+ Value: true
+ ana/camera_link:
+ Value: true
+ ana/camera_pan_tilt_bottom_screw_frame:
+ Value: true
+ ana/camera_pan_tilt_color_frame:
+ Value: true
+ ana/camera_pan_tilt_color_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_depth_frame:
+ Value: true
+ ana/camera_pan_tilt_depth_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_infra1_frame:
+ Value: true
+ ana/camera_pan_tilt_infra1_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_infra2_frame:
+ Value: true
+ ana/camera_pan_tilt_infra2_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_link:
+ Value: true
+ ana/front_left_axle:
+ Value: true
+ ana/front_left_hub:
+ Value: true
+ ana/front_left_wheel:
+ Value: true
+ ana/front_right_axle:
+ Value: true
+ ana/front_right_hub:
+ Value: true
+ ana/front_right_wheel:
+ Value: true
+ ana/front_sonar:
+ Value: true
+ ana/imu_bno055:
+ Value: true
+ ana/imu_bno055_base:
+ Value: true
+ ana/odom:
+ Value: true
+ ana/pan_frame:
+ Value: true
+ ana/realsense_support_pan_tilt:
+ Value: true
+ ana/rear_left_axle:
+ Value: true
+ ana/rear_left_hub:
+ Value: true
+ ana/rear_left_wheel:
+ Value: true
+ ana/rear_right_axle:
+ Value: true
+ ana/rear_right_hub:
+ Value: true
+ ana/rear_right_wheel:
+ Value: true
+ ana/rear_sonar:
+ Value: true
+ ana/tilt_frame:
+ Value: true
+ ana/top_plate:
+ Value: true
+ ana/velodyne:
+ Value: true
+ ana/velodyne_base:
+ Value: true
+ map:
+ Value: true
+ person1/base_footprint:
+ Value: true
+ person1/base_link:
+ Value: true
+ person1/head:
+ Value: true
+ person1/odom:
+ Value: true
+ world:
+ Value: true
+ Marker Scale: 0.10000000149011612
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ ana/odom:
+ ana/base_footprint:
+ ana/base_link:
+ ana/front_left_axle:
+ ana/front_left_hub:
+ ana/front_left_wheel:
+ {}
+ ana/front_right_axle:
+ ana/front_right_hub:
+ ana/front_right_wheel:
+ {}
+ ana/front_sonar:
+ {}
+ ana/rear_left_axle:
+ ana/rear_left_hub:
+ ana/rear_left_wheel:
+ {}
+ ana/rear_right_axle:
+ ana/rear_right_hub:
+ ana/rear_right_wheel:
+ {}
+ ana/rear_sonar:
+ {}
+ ana/top_plate:
+ ana/ana_box:
+ ana/pan_frame:
+ ana/tilt_frame:
+ ana/realsense_support_pan_tilt:
+ ana/camera_pan_tilt_bottom_screw_frame:
+ ana/camera_pan_tilt_link:
+ ana/camera_pan_tilt_color_frame:
+ ana/camera_pan_tilt_color_optical_frame:
+ {}
+ ana/camera_pan_tilt_depth_frame:
+ ana/camera_pan_tilt_depth_optical_frame:
+ {}
+ ana/camera_pan_tilt_infra1_frame:
+ ana/camera_pan_tilt_infra1_optical_frame:
+ {}
+ ana/camera_pan_tilt_infra2_frame:
+ ana/camera_pan_tilt_infra2_optical_frame:
+ {}
+ ana/ana_realsense_support:
+ ana/camera_bottom_screw_frame:
+ ana/camera_link:
+ ana/camera_color_frame:
+ ana/camera_color_optical_frame:
+ {}
+ ana/camera_depth_frame:
+ ana/camera_depth_optical_frame:
+ {}
+ ana/camera_infra1_frame:
+ ana/camera_infra1_optical_frame:
+ {}
+ ana/camera_infra2_frame:
+ ana/camera_infra2_optical_frame:
+ {}
+ ana/velodyne_base:
+ ana/velodyne:
+ {}
+ ana/imu_bno055_base:
+ ana/imu_bno055:
+ {}
+ person1/odom:
+ person1/base_footprint:
+ person1/base_link:
+ person1/head:
+ {}
+ world:
+ {}
+ Update Interval: 0
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz/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: true
+ Keep: 100
+ Name: Odom
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 0.75
+ 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: /ana/odom
+ Unreliable: false
+ Value: true
+ - Alpha: 0.75
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: false
+ History Length: 1
+ Name: Imu
+ Topic: /ana/sensors/imu
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: false
+ Image Topic: /ana/sensors/nav_cam/color/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: realsense_color
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: false
+ - Alpha: 0.5
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: realsense_pointcloud
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /ana/sensors/nav_cam/depth_registered/points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 2.9980437755584717
+ Min Value: -0.004874289035797119
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Velodyne
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 2
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /ana/sensors/velodyne_points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 0; 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: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /ana/sensors/scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Name: Sensors
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: true
+ Enabled: true
+ Name: Map
+ Topic: /ana/map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 25; 255; 0
+ Enabled: true
+ Name: footprint
+ Topic: /ana/move_base/global_costmap/footprint
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: local_costmap
+ Topic: /ana/move_base/local_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: global_costmap
+ Topic: /ana/move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 85; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: GlobalPlanner_global_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: /ana/move_base/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 0; 0; 255
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: DWA_global_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: /ana/move_base/DWAPlannerROS/global_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/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: DWA_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: /ana/move_base/DWAPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz/Pose
+ Color: 255; 255; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: CurrentGoal
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic: /ana/move_base/current_goal
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Nav
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Group
+ Displays:
+ - 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: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: obstacle_vision
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Squares
+ Topic: /ana/obstacle_detection_normals/all_rg
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: obstacle_normals
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /ana/obstacle_detection_normals/obstacles
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - 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: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: far_hole_obstacle
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /ana/far_hole_detection/hole_obstacle
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - 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: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: near_hole_obstacle
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /ana/near_hole_detection/hole_obstacle
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - 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: 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: near_hole_vision
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /ana/near_hole_detection/hole_zone
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ 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: 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: far_hole_vision
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /ana/far_hole_detection/hole_zone
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Name: camera
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 1.410619621111664e-8
+ Min Value: -1.076524824838998e-8
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 0; 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: lidar_obstacle
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /ana/lidar_detector/scan_out
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 0.9973819255828857
+ Min Value: -0.2792566418647766
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ 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: 111
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: lidar_zone
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 2
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /ana/lidar_filter/cloud_out
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/Image
+ Enabled: false
+ Image Topic: /ana/lidar_detector/obstacles_img/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: LidarDetectorImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: false
+ Enabled: true
+ Name: lidar
+ Enabled: true
+ Name: 3dnav_detection
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /ana/planner_markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /ana/lpd/markers
+ Name: lpd
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /ana/lpmf/markers
+ Name: lpmf
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /ana/mht/tracksMarkers
+ Name: mht
+ Namespaces:
+ cov_detection: true
+ cov_track: true
+ id: true
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Name: People_detection
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /ana/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /ana/move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 22.106815338134766
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7853981852531433
+ Target Frame: ana/base_footprint
+ Value: Orbit (rviz)
+ Yaw: 0.7853981852531433
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1000
+ Hide Left Dock: false
+ Hide Right Dock: false
+ LidarDetectorImage:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a0000038efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000038e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072000000020f0000011b0000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f00000302fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000302000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000007efc0100000003fb00000024004c0069006400610072004400650074006500630074006f00720049006d0061006700650000000000000004bf000000a600fffffffb0000000800540069006d006500000000000000073f0000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000034f0000038e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Teleop:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1215
+ X: 63
+ Y: 25
+ realsense_color:
+ collapsed: false
+
diff --git a/rviz/dabo_companion_ok.rviz b/rviz/dabo_companion_ok.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..41fc149e56dafdaeb4584b5110fbdeac30c3c3bf
--- /dev/null
+++ b/rviz/dabo_companion_ok.rviz
@@ -0,0 +1,429 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /TF1/Frames1
+ - /Sensors1
+ - /MarkerArray4
+ Splitter Ratio: 0.5936599373817444
+ Tree Height: 800
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/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: 100
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ dabo/base_footprint:
+ Value: true
+ dabo/base_link:
+ Value: true
+ dabo/body:
+ Value: true
+ dabo/caster_support:
+ Value: true
+ dabo/front_caster_wheel:
+ Value: true
+ dabo/front_hokuyo_base:
+ Value: true
+ dabo/front_hokuyo_scan_frame:
+ Value: true
+ dabo/front_support:
+ Value: true
+ dabo/head:
+ Value: true
+ dabo/head_servo1:
+ Value: true
+ dabo/head_servo2:
+ Value: true
+ dabo/head_servo3:
+ Value: true
+ dabo/left_arm:
+ Value: true
+ dabo/left_arm_servo1:
+ Value: true
+ dabo/left_arm_servo2:
+ Value: true
+ dabo/left_wheel_link:
+ Value: true
+ dabo/odom:
+ Value: true
+ dabo/rear_caster_wheel:
+ Value: true
+ dabo/rear_hokuyo_base:
+ Value: true
+ dabo/rear_hokuyo_scan_frame:
+ Value: true
+ dabo/rear_support:
+ Value: true
+ dabo/right_arm:
+ Value: true
+ dabo/right_arm_servo1:
+ Value: true
+ dabo/right_arm_servo2:
+ Value: true
+ dabo/right_wheel_link:
+ Value: true
+ dabo/top_plate:
+ Value: true
+ map:
+ Value: true
+ world:
+ Value: true
+ world_body:
+ Value: true
+ Marker Scale: 0.25
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ 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
+ Name: RobotModel
+ Robot Description: dabo/robot_description
+ TF Prefix: dabo
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.30000001192092896
+ Class: rviz/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: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.30000001192092896
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.10000000149011612
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.5
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /dabo/odom
+ Unreliable: false
+ 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/LaserScan
+ Color: 85; 0; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: FrontLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /dabo/sensors/front_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ 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/LaserScan
+ Color: 85; 170; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: RearLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /dabo/sensors/rear_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /dabo/bumblebee2_left/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: LeftImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /dabo/bumblebee2_right/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RightImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Camera
+ Enabled: false
+ Image Rendering: background and overlay
+ Image Topic: /dabo/bumblebee2_right/image_raw
+ Name: RightCamera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Visibility:
+ "": true
+ Grid: true
+ RobotModel: true
+ Sensors:
+ Camera:
+ LeftCamera: true
+ LeftImage: true
+ RightImage: true
+ Value: true
+ FrontLaserScan: true
+ Odometry: true
+ RearLaserScan: true
+ Value: true
+ TF: true
+ Value: true
+ Zoom Factor: 1
+ - Class: rviz/Camera
+ Enabled: false
+ Image Rendering: background and overlay
+ Image Topic: /dabo/bumblebee2_left/image_raw
+ Name: LeftCamera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Visibility:
+ "": true
+ Grid: true
+ RobotModel: true
+ Sensors:
+ Camera:
+ LeftImage: true
+ RightCamera: true
+ RightImage: true
+ Value: true
+ FrontLaserScan: true
+ Odometry: true
+ RearLaserScan: true
+ Value: true
+ TF: true
+ Value: true
+ Zoom Factor: 1
+ Enabled: false
+ Name: Camera
+ Enabled: true
+ Name: Sensors
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /lpd/markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /lpd_2/markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /mht_2/tracksMarkers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /dabo/planner_markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: dabo/odom
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /dabo/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /dabo/move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 85.43057250976562
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7903981804847717
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.7853981852531433
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1029
+ Hide Left Dock: false
+ Hide Right Dock: false
+ LeftCamera:
+ collapsed: false
+ LeftImage:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000003abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003ab000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000035f000002b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055d0000015bfc0100000006fb00000012004c0065006600740049006d0061006700650000000000000003070000006e00fffffffb00000014005200690067006800740049006d006100670065000000030d000002500000007600fffffffb00000014004c00650066007400430061006d00650072006100000002b1000002ac0000007600fffffffb000000160052006900670068007400430061006d0065007200610000000498000000c50000007e00fffffffb0000000800540069006d00650000000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000060e000003ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RightCamera:
+ collapsed: false
+ RightImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1918
+ X: 0
+ Y: 25
diff --git a/rviz/dabo_companion_ok2.rviz b/rviz/dabo_companion_ok2.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..06951f307d7f3e11af22650c27ec71cbf2dfae24
--- /dev/null
+++ b/rviz/dabo_companion_ok2.rviz
@@ -0,0 +1,442 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /TF1/Frames1
+ - /Sensors1
+ - /MarkerArray4
+ - /Map1
+ Splitter Ratio: 0.5936599373817444
+ Tree Height: 800
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/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: 100
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ dabo/base_footprint:
+ Value: true
+ dabo/base_link:
+ Value: true
+ dabo/body:
+ Value: true
+ dabo/caster_support:
+ Value: true
+ dabo/front_caster_wheel:
+ Value: true
+ dabo/front_hokuyo_base:
+ Value: true
+ dabo/front_hokuyo_scan_frame:
+ Value: true
+ dabo/front_support:
+ Value: true
+ dabo/head:
+ Value: true
+ dabo/head_servo1:
+ Value: true
+ dabo/head_servo2:
+ Value: true
+ dabo/head_servo3:
+ Value: true
+ dabo/left_arm:
+ Value: true
+ dabo/left_arm_servo1:
+ Value: true
+ dabo/left_arm_servo2:
+ Value: true
+ dabo/left_wheel_link:
+ Value: true
+ dabo/odom:
+ Value: true
+ dabo/rear_caster_wheel:
+ Value: true
+ dabo/rear_hokuyo_base:
+ Value: true
+ dabo/rear_hokuyo_scan_frame:
+ Value: true
+ dabo/rear_support:
+ Value: true
+ dabo/right_arm:
+ Value: true
+ dabo/right_arm_servo1:
+ Value: true
+ dabo/right_arm_servo2:
+ Value: true
+ dabo/right_wheel_link:
+ Value: true
+ dabo/top_plate:
+ Value: true
+ map:
+ Value: true
+ world:
+ Value: true
+ world_body:
+ Value: true
+ Marker Scale: 0.25
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ 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
+ Name: RobotModel
+ Robot Description: dabo/robot_description
+ TF Prefix: dabo
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.30000001192092896
+ Class: rviz/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: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.30000001192092896
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.10000000149011612
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.5
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /dabo/odom
+ Unreliable: false
+ 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/LaserScan
+ Color: 85; 0; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: FrontLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /dabo/sensors/front_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ 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/LaserScan
+ Color: 85; 170; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: RearLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /dabo/sensors/rear_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /dabo/bumblebee2_left/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: LeftImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /dabo/bumblebee2_right/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RightImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Camera
+ Enabled: false
+ Image Rendering: background and overlay
+ Image Topic: /dabo/bumblebee2_right/image_raw
+ Name: RightCamera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Visibility:
+ Grid: true
+ Map: true
+ MarkerArray: true
+ RobotModel: true
+ Sensors:
+ Camera:
+ LeftCamera: true
+ LeftImage: true
+ RightImage: true
+ Value: true
+ FrontLaserScan: true
+ Odometry: true
+ RearLaserScan: true
+ Value: true
+ TF: true
+ Value: true
+ Zoom Factor: 1
+ - Class: rviz/Camera
+ Enabled: false
+ Image Rendering: background and overlay
+ Image Topic: /dabo/bumblebee2_left/image_raw
+ Name: LeftCamera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Visibility:
+ Grid: true
+ Map: true
+ MarkerArray: true
+ RobotModel: true
+ Sensors:
+ Camera:
+ LeftImage: true
+ RightCamera: true
+ RightImage: true
+ Value: true
+ FrontLaserScan: true
+ Odometry: true
+ RearLaserScan: true
+ Value: true
+ TF: true
+ Value: true
+ Zoom Factor: 1
+ Enabled: false
+ Name: Camera
+ Enabled: true
+ Name: Sensors
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /lpd/markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /lpd_2/markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /mht_2/tracksMarkers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /dabo/planner_markers
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /dabo/map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: dabo/odom
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /dabo/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /dabo/move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 85.43057250976562
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7953981757164001
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.7853981852531433
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1029
+ Hide Left Dock: false
+ Hide Right Dock: false
+ LeftCamera:
+ collapsed: false
+ LeftImage:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000003abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003ab000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000035f000002b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055d0000015bfc0100000006fb00000012004c0065006600740049006d0061006700650000000000000003070000006e00fffffffb00000014005200690067006800740049006d006100670065000000030d000002500000007600fffffffb00000014004c00650066007400430061006d00650072006100000002b1000002ac0000007600fffffffb000000160052006900670068007400430061006d0065007200610000000498000000c50000007e00fffffffb0000000800540069006d00650000000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000060e000003ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RightCamera:
+ collapsed: false
+ RightImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1918
+ X: 0
+ Y: 25
diff --git a/rviz/tibi_companion.rviz b/rviz/tibi_companion.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..ac2084f268206fb938f9398f6ccba54750504c6d
--- /dev/null
+++ b/rviz/tibi_companion.rviz
@@ -0,0 +1,594 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /TF1/Frames1
+ - /Person11
+ - /Person11/Person1Model1
+ - /Obstacles1
+ Splitter Ratio: 0.542553
+ Tree Height: 609
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: FrontLaserScan
+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: 200
+ Reference Frame: <Fixed Frame>
+ 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
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ body_mesh:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bumblebee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bumblebee_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ bumblebee_left_sim:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ bumblebee_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ bumblebee_right_sim:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ caster_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_shoulder1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_shoulder2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ neck1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ neck2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ neck3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_shoulder1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_shoulder2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: tibi/robot_description
+ TF Prefix: tibi
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ - Angle Tolerance: 0.2
+ Class: rviz/Odometry
+ Color: 255; 170; 0
+ Enabled: true
+ Keep: 100
+ Length: 0.3
+ Name: Odometry
+ Position Tolerance: 0.2
+ Topic: /tibi/segway/odom
+ Value: true
+ - Alpha: 0.5
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: true
+ Enabled: true
+ Name: Map
+ Topic: /tibi/map
+ Unreliable: false
+ 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/LaserScan
+ Color: 255; 0; 0
+ Color Transformer: FlatColor
+ 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: FrontLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /tibi/sensors/front_laser_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ 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/LaserScan
+ Color: 255; 170; 0
+ Color Transformer: FlatColor
+ 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: RearLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /tibi/sensors/rear_laser_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 25; 255; 0
+ Enabled: false
+ Name: Footprint Polygon
+ Topic: /tibi/move_base/local_costmap/footprint
+ Unreliable: false
+ Value: false
+ - Alpha: 0.23
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: LocalMap
+ Topic: /tibi/move_base/local_costmap/costmap
+ Unreliable: false
+ Value: false
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+ Enabled: false
+ Head Diameter: 0.3
+ Head Length: 0.2
+ Length: 0.3
+ Line Style: Lines
+ Line Width: 0.03
+ Name: LocalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.03
+ Shaft Diameter: 0.1
+ Shaft Length: 0.1
+ Topic: /tibi/move_base/AkpLocalPlanner/local_plan
+ Unreliable: false
+ Value: false
+ - Alpha: 0.2
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: GlobalMap
+ Topic: /tibi/move_base/global_costmap/costmap
+ Unreliable: false
+ Value: false
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 0; 0; 255
+ Enabled: false
+ Head Diameter: 0.3
+ Head Length: 0.2
+ Length: 0.3
+ Line Style: Lines
+ Line Width: 0.03
+ Name: GlobalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.03
+ Shaft Diameter: 0.1
+ Shaft Length: 0.1
+ Topic: /tibi/move_base/AkpLocalPlanner/global_plan
+ Unreliable: false
+ Value: false
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: false
+ Head Diameter: 0.3
+ Head Length: 0.2
+ Length: 0.3
+ Line Style: Lines
+ Line Width: 0.03
+ Name: PlanPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.03
+ Shaft Diameter: 0.1
+ Shaft Length: 0.1
+ Topic: /tibi/move_base/NavfnROS/plan
+ Unreliable: false
+ Value: false
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.1
+ Class: rviz/Pose
+ Color: 255; 255; 0
+ Enabled: true
+ Head Length: 0.3
+ Head Radius: 0.1
+ Name: GoalPose
+ Shaft Length: 1
+ Shaft Radius: 0.05
+ Shape: Arrow
+ Topic: /tibi/move_base/current_goal
+ Unreliable: false
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.2
+ Class: rviz/Odometry
+ Color: 0; 170; 0
+ Enabled: true
+ Keep: 100
+ Length: 0.3
+ Name: Person1Odometry
+ Position Tolerance: 0.2
+ Topic: /person1/odom
+ Value: true
+ - Alpha: 0.5
+ 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
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: Person1Model
+ Robot Description: person1_description
+ TF Prefix: person1
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ Enabled: true
+ Name: Person1
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /tibi/mht/tracksMarkers
+ Name: PeopleTracks
+ Namespaces:
+ cov_track: true
+ id: true
+ vel: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /tibi/planner_markers
+ Name: PlannerMarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.5
+ 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
+ Name: Box1Model
+ Robot Description: box1_description
+ TF Prefix: box1
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Alpha: 0.5
+ 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
+ Name: Box2Model
+ Robot Description: box2_description
+ TF Prefix: box2
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ Enabled: true
+ Name: Obstacles
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /tibi/lpmf/peopleMarkers
+ Name: MarkerArray
+ Namespaces:
+ "": true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /tibi/lpd_front/peopleMarkers_array
+ Name: MarkerArray
+ Namespaces:
+ people: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /tibi/lpd_rear/peopleMarkers_array
+ Name: MarkerArray
+ Namespaces:
+ people: true
+ Queue Size: 100
+ 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/SetInitialPose
+ Topic: /tibi/initialpose
+ - Class: rviz/SetGoal
+ Topic: /tibi/move_base_simple/goal
+ - Class: rviz/CancelAction
+ Topic: /tibi/move_base/cancel
+ Value: true
+ Views:
+ Current:
+ Class: rviz/ThirdPersonFollower
+ Distance: 8.43049
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 10.6797
+ Y: 19.7547
+ Z: -4.21554e-05
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 1.2598
+ Target Frame: map
+ Value: ThirdPersonFollower (rviz)
+ Yaw: 3.2104
+ Saved:
+ - Class: rviz/ThirdPersonFollower
+ Distance: 18.1534
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.0519981
+ Y: -0.0570698
+ Z: -0.240009
+ Name: ThirdPersonFollower
+ Near Clip Distance: 0.01
+ Pitch: 1.2598
+ Target Frame: tibi/base_link
+ Value: ThirdPersonFollower (rviz)
+ Yaw: -3.07279
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 744
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000002a2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000001af000000effb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002a2000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001810000014900000000000000000000000100000215000002a2fc0200000007fb0000000a0049006d0061006700650000000028000002a20000000000000000fb0000000c00430061006d00650072006100000000280000029f0000000000000000fb0000000c00430061006d006500720061000000016d0000015a0000000000000000fb0000000c00430061006d00650072006101000001890000013e0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002a2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000002a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 959
+ X: 65
+ Y: 126