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Commit 0e20b7df authored by Fernando Herrero's avatar Fernando Herrero
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Fix resolution arg in nav_mapping.launch. Update-complete rviz

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launch/nav_mapping.launch
+ 1
− 1
View file @ 0e20b7df
......@@ -38,7 +38,7 @@
<arg name="use_gmapping" value="true"/>
<arg name="gmapping_scan_topic" value="/ana/sensors/scan"/>
<arg name="gmapping_config" value="$(find iri_ana_rosnav)/params/gmapping.yaml"/>
<arg name="resolution" value="$(arg resolution"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
......
rviz/ana.rviz
+ 329
− 65
View file @ 0e20b7df
......@@ -6,9 +6,10 @@ Panels:
Expanded:
- /Sensors1
- /Nav1
- /People1
Splitter Ratio: 0.5
Tree Height: 418
- /AMCL1
- /Exploration1
Splitter Ratio: 0.553314149
Tree Height: 663
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -27,7 +28,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: realsense_color
SyncSource: LaserScan
Toolbars:
toolButtonStyle: 2
Visualization Manager:
......@@ -48,7 +49,7 @@ Visualization Manager:
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
......@@ -120,6 +121,47 @@ Visualization Manager:
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
......@@ -164,6 +206,15 @@ Visualization Manager:
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
......@@ -199,6 +250,11 @@ Visualization Manager:
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
......@@ -231,14 +287,8 @@ Visualization Manager:
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:
......@@ -259,6 +309,26 @@ Visualization Manager:
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:
......@@ -279,6 +349,10 @@ Visualization Manager:
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:
......@@ -293,22 +367,18 @@ Visualization Manager:
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
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
world:
Value: true
Marker Scale: 0.100000001
Name: TF
Show Arrows: true
......@@ -341,53 +411,84 @@ Visualization Manager:
{}
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_aligned_depth_to_color_frame:
ana/camera_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_infra1_optical_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:
{}
world:
{}
Update Interval: 0
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: false
History Length: 1
Name: Imu
Topic: /ana/sensors/imu
- Angle Tolerance: 0.5
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: Odometry
Position Tolerance: 0.5
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.150000006
Head Radius: 0.0500000007
Shaft Length: 0.5
Shaft Radius: 0.0250000004
Value: Arrow
Topic: /ana/odom
Unreliable: false
Value: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /ana/sensors/nav_cam/color/image_raw
......@@ -490,10 +591,83 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: false
History Length: 1
Name: Imu
Topic: /ana/sensors/imu
Unreliable: false
Value: false
Enabled: false
Name: Sensors
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.5
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: Odometry
Position Tolerance: 0.5
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.150000006
Head Radius: 0.0500000007
Shaft Length: 0.5
Shaft Radius: 0.0250000004
Value: Arrow
Topic: /ana/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: 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
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
......@@ -593,30 +767,120 @@ Visualization Manager:
Topic: /ana/move_base/current_goal
Unreliable: false
Value: true
Enabled: true
Enabled: false
Name: Nav
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /ana/lpmf/markers
Name: lpmf
- 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
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
- Alpha: 0.5
Arrow Length: 0.0500000007
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 170; 85; 127
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: AMCLPoseArray
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /ana/particlecloud
Unreliable: false
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: MapFrame
Radius: 0.100000001
Reference Frame: map
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: OdomFrame
Radius: 0.100000001
Reference Frame: map
Value: true
Enabled: false
Name: AMCL
- Class: rviz/Group
Displays:
- Class: rviz/Marker
Enabled: true
Marker Topic: /exploration/candidate_marker
Name: CandidateMarker
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: FrontiersMap
Topic: /exploration/frontiers_map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /ana/mht/markers
Name: mht
Marker Topic: /exploration/frontiers_marker
Name: FrontiersMarker
Namespaces:
cov_track: true
id: true
vel: true
{}
Queue Size: 100
Value: true
Enabled: true
Name: People
- Class: rviz/Marker
Enabled: true
Marker Topic: /exploration/text_marker
Name: TextMarker
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: false
Name: Exploration
Enabled: true
Global Options:
Background Color: 48; 48; 48
......@@ -642,25 +906,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 10
Distance: 38.4725838
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
X: -0.395226091
Y: 0.568072855
Z: 0.530640662
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
Pitch: 1.56479633
Target Frame: ana/base_footprint
Value: Orbit (rviz)
Yaw: 0.785398185
Yaw: 4.73356247
Saved: ~
Window Geometry:
Displays:
......@@ -668,7 +932,7 @@ Window Geometry:
Height: 876
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000231000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072010000025f000000ef0000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000034f0000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000326000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072000000025f000000ef0000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000034f0000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......
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