diff --git a/launch/sim_sample.launch b/launch/sim_sample.launch index 1a68b2bf0303a2787ff5e72d1c1d626c3e5ec78a..5c40cb805c8cdb15e40f6cc455d6fe6e39e03190 100644 --- a/launch/sim_sample.launch +++ b/launch/sim_sample.launch @@ -4,24 +4,15 @@ <arg name="ns" default="ana"/> <arg name="world_name" default="empty"/> <arg name="world" default="$(find iri_gazebo_worlds)/worlds/$(arg world_name).world"/> + <arg name="world_description" default="true"/> <arg name="rviz" default="false"/> <arg name="gui" default="true"/> - <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched --> - <include file="$(find gazebo_ros)/launch/empty_world.launch"> - <arg name="paused" value="false"/> - <arg name="use_sim_time" value="true"/> - <arg name="extra_gazebo_args" value=""/> - <arg name="gui" value="$(arg gui)"/> - <arg name="recording" value="false"/> - <arg name="headless" value="false"/> - <arg name="debug" value="false"/> - <arg name="physics" value="ode"/> - <arg name="verbose" value="false"/> - <arg name="world_name" value="$(arg world)"/> - <arg name="respawn_gazebo" value="false"/> - <arg name="use_clock_frequency" value="false"/> - <arg name="pub_clock_frequency" value="100"/> + <include file="$(find iri_gazebo_worlds)/launch/test.launch"> + <arg name="gui" value="$(arg gui)"/> + <arg name="world_name" value="$(arg world_name)"/> + <arg name="description" value="$(arg world_description)"/> + <arg name="rviz" value="false"/> </include> <include file="$(find iri_ana_gazebo)/launch/spawn.launch"> diff --git a/rviz/ana.rviz b/rviz/ana.rviz index 7b3d927e125cd14f0356f98aa1fe0801f9161086..3c0dbdb5af7874b5e8ef7d132e442b6cc56bd920 100644 --- a/rviz/ana.rviz +++ b/rviz/ana.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Status1 + - /Sensors1 Splitter Ratio: 0.5 Tree Height: 594 - Class: rviz/Selection @@ -27,6 +27,8 @@ Panels: Name: Time SyncMode: 0 SyncSource: Velodyne +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -290,6 +292,10 @@ Visualization Manager: Value: true ana/velodyne_base: Value: true + map: + Value: true + world: + Value: true Marker Scale: 0.100000001 Name: TF Show Arrows: true @@ -345,87 +351,114 @@ Visualization Manager: {} Update Interval: 0 Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.00564962626 - Min Value: -0.00647342205 - 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: 999999 - Min Color: 0; 0; 0 - Min Intensity: 999999 - Name: Velodyne - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.00999999978 - Style: Points - Topic: /ana/sensors/velodyne_points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.5 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: true - History Length: 1 - Name: Imu - Topic: /ana/sensors/imu - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - 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: 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 + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.46991944 + Min Value: -0.123292208 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: Velodyne + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /ana/sensors/velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + 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: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /ana/sensors/nav_cam/color/image_raw + Name: Camera + Overlay Alpha: 0.100000001 + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + Visibility: + Grid: true + RobotModel: false + Sensors: + Camera: true + Imu: false + Value: true + Velodyne: true + realsense_color: true + realsense_pointcloud: true + TF: false + Value: true + Zoom Factor: 1 + - 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: realsense_pointcloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /ana/sensors/nav_cam/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: true + History Length: 1 + Name: Imu + Topic: /ana/sensors/imu + Unreliable: false + Value: true Enabled: true - 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): 0.00999999978 - Style: Points - Topic: /ana/sensors/nav_cam/depth_registered/points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true + Name: Sensors Enabled: true Global Options: Background Color: 48; 48; 48 @@ -472,12 +505,14 @@ Visualization Manager: Yaw: 0.785398185 Saved: ~ Window Geometry: + Camera: + collapsed: false Displays: collapsed: false Height: 807 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e1000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000019f000002e1fc0200000004fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720100000028000002e10000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002fd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e1000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000019f000002e1fc0200000005fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000000280000018a0000001600fffffffb0000000c00430061006d00650072006101000001b8000001510000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002fd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: