diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index fc49e8370a5a2519b1108f56f8bf54e432da5229..b3365f12e0ecbda2e218300a9aabbe645102d247 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -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)" />
diff --git a/rviz/ana.rviz b/rviz/ana.rviz
index 753c4395a17cdb9083758b84845ed54d753394f1..2e96a07236a7f8cfb5c2d64fe62f9ab9136a3398 100644
--- a/rviz/ana.rviz
+++ b/rviz/ana.rviz
@@ -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: