diff --git a/launch/demo.launch b/launch/demo.launch
new file mode 100644
index 0000000000000000000000000000000000000000..9f94fe01df64611756774cf13a9948b918daf16b
--- /dev/null
+++ b/launch/demo.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="name" default="ana" />
+ <arg name="model" default="$(arg name)"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_ana_bringup)/launch/bringup.launch">
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <include file="$(find iri_ana_description)/launch/description.launch">
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="model" value="$(arg model)"/>
+ <arg name="static_wheels" value="true"/>
+ </include>
+
+ <include file="$(find iri_ana_rosnav)/launch/nav_map.launch">
+ <arg name="map_name" value="master_big"/>
+ <arg name="rviz" value="false"/>
+ </include>
+
+ <include file="$(find iri_ana_launch)/launch/ps3_teleop.launch">
+ </include>
+
+ <include file="$(find iri_ana_launch)/launch/people.launch">
+ </include>
+
+</launch>
diff --git a/launch/people.launch b/launch/people.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ecb61a23d09343217ccc466035e6a691d2f8c286
--- /dev/null
+++ b/launch/people.launch
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="ana" />
+ <arg name="output" default="screen" />
+ <arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
+ <arg name="map_topic" default="/$(arg ns)/map"/>
+ <arg name="tracks_topic" default="/$(arg ns)/mht/tracks"/>
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_people_tracking_mht)/launch/test_robot.launch">
+ <arg name="ns" value="$(arg ns)" />
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="map_topic" value="$(arg map_topic)"/>
+ <arg name="tracks_topic" value="$(arg tracks_topic)"/>
+ </include>
+</launch>
diff --git a/launch/ps3_teleop.launch b/launch/ps3_teleop.launch
index b49e9004dd73097ab249c4507e65580966a32b16..e68aa103a32160106b8f2f8692551d5364f09535 100644
--- a/launch/ps3_teleop.launch
+++ b/launch/ps3_teleop.launch
@@ -3,19 +3,19 @@
<launch>
<arg name="ns" default="ana" />
- <arg name="path" default="$(find iri_teleop_launch)"/>
- <arg name="config_file" default="$(arg path)/config/ps3_bt_teleop.yaml" />
+ <arg name="path" default="$(find iri_ana_bringup)"/>
+ <arg name="config_file" default="$(arg path)/config/ana_ps3_bt_teleop.yaml" />
<arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
<arg name="joy_topic" default="/$(arg ns)/joy"/>
<arg name="run_joy" default="true"/>
- <arg name="device" default="/dev/input/js0" />
- <arg name="joy_config_file" default="$(arg path)/config/joy.yaml" />
+ <arg name="device" default="/dev/input/js1" />
+ <arg name="joy_config_file" default="$(find iri_teleop_launch)/config/joy.yaml" />
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_teleop_launch)/launch/joystick_teleop.launch">
<arg name="ns" value="$(arg ns)"/>
- <arg name="path" value="$(arg path)"/>
+ <arg name="path" value="$(find iri_teleop_launch)"/>
<arg name="config_file" value="$(arg config_file)"/>
<arg name="twist_topic" value="$(arg twist_topic)"/>
<arg name="joy_topic" value="$(arg joy_topic)"/>
diff --git a/rviz/ana.rviz b/rviz/ana.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..2895ab5526167b55b195f470d2f8ef41095d0aaa
--- /dev/null
+++ b/rviz/ana.rviz
@@ -0,0 +1,1022 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ - /Sensors1
+ - /3dnav_detection1/camera1
+ - /People_detection1
+ Splitter Ratio: 0.504000008
+ Tree Height: 787
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679016
+ - 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: ""
+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: 0.0299999993
+ 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
+ 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
+ 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
+ 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_footprint_robot:
+ Value: true
+ ana/base_link:
+ Value: true
+ ana/camera_aligned_depth_to_color_frame:
+ Value: true
+ ana/camera_aligned_depth_to_infra1_frame:
+ 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/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/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/top_plate:
+ Value: true
+ ana/velodyne:
+ Value: true
+ ana/velodyne_base:
+ Value: true
+ camera_accel_frame:
+ Value: true
+ camera_accel_optical_frame:
+ Value: true
+ camera_gyro_frame:
+ Value: true
+ camera_gyro_optical_frame:
+ Value: true
+ map:
+ Value: true
+ Marker Scale: 0.100000001
+ 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/ana_realsense_support:
+ ana/camera_bottom_screw_frame:
+ ana/camera_link:
+ ana/camera_aligned_depth_to_color_frame:
+ ana/camera_color_optical_frame:
+ {}
+ ana/camera_aligned_depth_to_infra1_frame:
+ ana/camera_infra1_optical_frame:
+ {}
+ ana/camera_color_frame:
+ {}
+ ana/camera_depth_frame:
+ ana/camera_depth_optical_frame:
+ {}
+ ana/camera_infra1_frame:
+ {}
+ ana/camera_infra2_frame:
+ ana/camera_infra2_optical_frame:
+ {}
+ camera_accel_frame:
+ camera_accel_optical_frame:
+ {}
+ camera_gyro_frame:
+ camera_gyro_optical_frame:
+ {}
+ ana/velodyne_base:
+ ana/velodyne:
+ {}
+ ana/imu_bno055_base:
+ ana/imu_bno055:
+ {}
+ ana/base_footprint_robot:
+ {}
+ Update Interval: 0
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.100000001
+ 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: 0.300000012
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odom
+ Position Tolerance: 0.100000001
+ Shape:
+ Alpha: 0.75
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Color: 255; 25; 0
+ Head Length: 0.300000012
+ Head Radius: 0.100000001
+ Shaft Length: 1
+ Shaft Radius: 0.0500000007
+ 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): 0.00999999978
+ 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: 3.40824103
+ Min Value: -0.157667398
+ 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: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Velodyne
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 2
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /ana/sensors/velodyne_points
+ 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; 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): 0.00999999978
+ 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: 0.699999988
+ 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: 0.699999988
+ 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: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: GlobalPlanner_global_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ 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: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: DWA_global_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ 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: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: DWA_local_plan
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /ana/move_base/DWAPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Class: rviz/Pose
+ Color: 255; 255; 0
+ Enabled: true
+ Head Length: 0.300000012
+ Head Radius: 0.100000001
+ Name: CurrentGoal
+ Shaft Length: 1
+ Shaft Radius: 0.0500000007
+ 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): 0.00999999978
+ 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): 0.00999999978
+ 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): 0.00999999978
+ 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): 0.00999999978
+ 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
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+ 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): 0.00999999978
+ Style: Flat Squares
+ Topic: /ana/near_hole_detection/hole_zone
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
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+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
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+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
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+ 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): 0.00999999978
+ 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
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+ Displays:
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+ Autocompute Value Bounds:
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+ Min Value: -1.07652482e-08
+ Value: true
+ Axis: Z
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+ Class: rviz/LaserScan
+ Color: 255; 0; 0
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+ 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): 0.00999999978
+ Style: Points
+ Topic: /ana/lidar_detector/scan_out
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
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+ Value: true
+ Axis: Z
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+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
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+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 111
+ Min Color: 0; 0; 0
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+ Name: lidar_zone
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 2
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /ana/lidar_filter/cloud_out
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
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+ 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
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+ Displays:
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+ Marker Topic: /ana/lpd/markers
+ Name: lpd
+ Namespaces:
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+ Queue Size: 100
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+ Marker Topic: /ana/lpmf/markers
+ Name: lpmf
+ Namespaces:
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+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /ana/mht/markers
+ Name: mht
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+ id: true
+ vel: true
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Name: People_detection
+ Enabled: true
+ Global Options:
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+ Default Light: true
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
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+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /ana/initialpose
+ - Class: rviz/SetGoal
+ Topic: /ana/move_base_simple/goal
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+ Single click: true
+ Topic: /clicked_point
+ Value: true
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+ Distance: 10
+ Enable Stereo Rendering:
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+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
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+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.00999999978
+ Pitch: 0.785398185
+ Target Frame: ana/base_footprint
+ Value: Orbit (rviz)
+ Yaw: 0.785398185
+ Saved: ~
+Window Geometry:
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+ Height: 1000
+ Hide Left Dock: false
+ Hide Right Dock: false
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+ Time:
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+ Views:
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+ Width: 1215
+ X: 65
+ Y: 24
+ realsense_color:
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