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humanoides
darwin_robot
Commits
b7c6bb85
Commit
b7c6bb85
authored
8 years ago
by
Sergi Hernandez
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Added an RVIZ configuration file for navigation.
parent
d7985a33
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1 merge request
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Kinetic migration
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darwin_nav/config/darwin_nav.rviz
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darwin_nav/config/darwin_nav.rviz
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darwin_nav/config/darwin_nav.rviz
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View file @
b7c6bb85
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /TF1/Tree1
- /local_plan1
Splitter Ratio: 0.385563
Tree Height: 655
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
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: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: false
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: robot_description
TF Prefix: /darwin
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
E125:
Value: true
E175:
Value: true
E225:
Value: true
E25:
Value: true
E75:
Value: true
N125:
Value: true
N175:
Value: true
N25:
Value: true
N75:
Value: true
S125:
Value: true
S175:
Value: true
S25:
Value: true
S75:
Value: true
W125:
Value: true
W175:
Value: true
W225:
Value: true
W25:
Value: true
W75:
Value: true
darwin/base_footprint:
Value: true
darwin/base_link:
Value: true
darwin/darwin_accel:
Value: true
darwin/darwin_cam_link:
Value: true
darwin/darwin_cam_optical_link:
Value: true
darwin/darwin_gyro:
Value: true
darwin/darwin_imu_link:
Value: true
darwin/head:
Value: true
darwin/left_arm_high:
Value: true
darwin/left_arm_low:
Value: true
darwin/left_leg_ankle_pitch:
Value: true
darwin/left_leg_ankle_roll:
Value: true
darwin/left_leg_knee:
Value: true
darwin/left_leg_pelvis_pitch:
Value: true
darwin/left_leg_pelvis_roll:
Value: true
darwin/left_leg_pelvis_yaw:
Value: true
darwin/left_shoulder:
Value: true
darwin/neck:
Value: true
darwin/odom:
Value: true
darwin/right_arm_high:
Value: true
darwin/right_arm_low:
Value: true
darwin/right_leg_ankle_pitch:
Value: true
darwin/right_leg_ankle_roll:
Value: true
darwin/right_leg_knee:
Value: true
darwin/right_leg_pelvis_pitch:
Value: true
darwin/right_leg_pelvis_roll:
Value: true
darwin/right_leg_pelvis_yaw:
Value: true
darwin/right_shoulder:
Value: true
obstacle_base_fence_link:
Value: true
obstacle_base_link:
Value: true
Marker Scale: 0.2
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
obstacle_base_link:
E125:
{}
E175:
{}
E225:
{}
E25:
{}
E75:
{}
N125:
{}
N175:
{}
N25:
{}
N75:
{}
S125:
{}
S175:
{}
S25:
{}
S75:
{}
W125:
{}
W175:
{}
W225:
{}
W25:
{}
W75:
{}
darwin/odom:
darwin/base_footprint:
darwin/base_link:
darwin/darwin_accel:
{}
darwin/darwin_gyro:
{}
darwin/darwin_imu_link:
{}
darwin/left_leg_pelvis_yaw:
darwin/left_leg_pelvis_roll:
darwin/left_leg_pelvis_pitch:
darwin/left_leg_knee:
darwin/left_leg_ankle_pitch:
darwin/left_leg_ankle_roll:
{}
darwin/left_shoulder:
darwin/left_arm_high:
darwin/left_arm_low:
{}
darwin/neck:
darwin/head:
darwin/darwin_cam_link:
darwin/darwin_cam_optical_link:
{}
darwin/right_leg_pelvis_yaw:
darwin/right_leg_pelvis_roll:
darwin/right_leg_pelvis_pitch:
darwin/right_leg_knee:
darwin/right_leg_ankle_pitch:
darwin/right_leg_ankle_roll:
{}
darwin/right_shoulder:
darwin/right_arm_high:
darwin/right_arm_low:
{}
obstacle_base_fence_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Name: Environment
Robot Description: obstacles_environment
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz/Image
Enabled: false
Image Topic: /darwin/camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Unreliable: false
Value: false
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: local_costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Value: false
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: global_costmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: global_plan
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: /move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 0; 255
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: local_plan
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: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: local_global_plan
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: /move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: obstacle_base_link
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
Topic: /darwin/qr_global_loc/initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.785398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 936
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000031e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002190000012d0000001600ffffff000000010000010f0000031efc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000006e0000006400fffffffb0000000a00560069006500770073010000009c000002aa000000b000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000031b000000a30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b70000003efc0100000002fb0000000800540069006d00650100000000000004b7000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002320000031e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1207
X: 65
Y: 24
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