diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 7b9f7dd2e0742eb457d4b549b89dfdb006b7b09e..f32a312f3d3be90d927ac7dcb7385bd4d411d39e 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -32,7 +32,7 @@
<arg name="base_frame_id" value="$(arg name)/base_footprint"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
- <arg name="odom_topic" value="/$(arg name)/odom"/>
+ <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/>
<arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="use_map" value="true"/>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index b3365f12e0ecbda2e218300a9aabbe645102d247..2b72f8b938d3a7a8929261b9d00abf7e048d9736 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -27,7 +27,7 @@
<arg name="base_frame_id" value="ana/base_footprint"/>
<arg name="map_topic" value="/ana/map"/>
<arg name="map_service" value="/ana/static_map"/>
- <arg name="odom_topic" value="/ana/odom"/>
+ <arg name="odom_topic" value="/ana/local_odom_combined"/>
<arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
<arg name="scan_topic" value="/ana_sensors/scan"/>
<arg name="use_map" value="true"/>
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index abe2696d0af7acf07c2a8d4ed6c2f8f72fbef596..06ac5d28e7064f1541e2b4a715c172fce7d554e0 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -32,7 +32,7 @@
<arg name="base_frame_id" value="$(arg name)/base_footprint"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
- <arg name="odom_topic" value="/$(arg name)/odom"/>
+ <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/>
<arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="use_map" value="false"/>
diff --git a/rviz/3d_ana.rviz b/rviz/3d_ana.rviz
index 7343f4b4b6034c96eaa37fcdd1e5723ed46de1c5..23ac36554b7518674c38774fd51a97530a317fe7 100644
--- a/rviz/3d_ana.rviz
+++ b/rviz/3d_ana.rviz
@@ -11,7 +11,7 @@ Panels:
- /3d_nav_detection1/lidar1
- /3d_nav_detection1/camera1
Splitter Ratio: 0.5486725568771362
- Tree Height: 796
+ Tree Height: 823
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -290,8 +290,6 @@ Visualization Manager:
Value: true
ana/base_footprint:
Value: true
- ana/base_footprint_robot:
- Value: true
ana/base_link:
Value: true
ana/front_left_axle:
@@ -314,8 +312,6 @@ Visualization Manager:
Value: true
ana/imu_sim_bno055_base:
Value: true
- ana/nav_cam_aligned_depth_to_color_frame:
- Value: true
ana/nav_cam_bottom_screw_frame:
Value: true
ana/nav_cam_color_frame:
@@ -336,8 +332,6 @@ Visualization Manager:
Value: true
ana/nav_cam_link:
Value: true
- ana/nav_cam_top_aligned_depth_to_color_frame:
- Value: true
ana/nav_cam_top_bottom_screw_frame:
Value: true
ana/nav_cam_top_color_frame:
@@ -380,15 +374,11 @@ Visualization Manager:
Value: true
ana/velodyne_base:
Value: true
- camera_accel_frame:
- Value: true
- camera_accel_optical_frame:
- Value: true
- camera_gyro_frame:
+ map:
Value: true
- camera_gyro_optical_frame:
+ world:
Value: true
- map:
+ world_body:
Value: true
Marker Scale: 0.10000000149011612
Name: TF
@@ -426,11 +416,9 @@ Visualization Manager:
ana/ana_realsense_support:
ana/nav_cam_bottom_screw_frame:
ana/nav_cam_link:
- ana/nav_cam_aligned_depth_to_color_frame:
+ ana/nav_cam_color_frame:
ana/nav_cam_color_optical_frame:
{}
- ana/nav_cam_color_frame:
- {}
ana/nav_cam_depth_frame:
ana/nav_cam_depth_optical_frame:
{}
@@ -443,11 +431,9 @@ Visualization Manager:
ana/ana_realsense_support_top:
ana/nav_cam_top_bottom_screw_frame:
ana/nav_cam_top_link:
- ana/nav_cam_top_aligned_depth_to_color_frame:
+ ana/nav_cam_top_color_frame:
ana/nav_cam_top_color_optical_frame:
{}
- ana/nav_cam_top_color_frame:
- {}
ana/nav_cam_top_depth_frame:
ana/nav_cam_top_depth_optical_frame:
{}
@@ -457,12 +443,6 @@ Visualization Manager:
ana/nav_cam_top_infra2_frame:
ana/nav_cam_top_infra2_optical_frame:
{}
- camera_accel_frame:
- camera_accel_optical_frame:
- {}
- camera_gyro_frame:
- camera_gyro_optical_frame:
- {}
ana/velodyne_base:
ana/velodyne:
{}
@@ -471,7 +451,8 @@ Visualization Manager:
ana/imu_sim_bno055_base:
ana/imu_sim_bno055:
{}
- ana/base_footprint_robot:
+ world:
+ world_body:
{}
Update Interval: 0
Value: true
@@ -531,8 +512,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 5.824672222137451
- Min Value: -0.5254461169242859
+ Max Value: 2.5488672256469727
+ Min Value: -0.9753887057304382
Value: true
Axis: Z
Channel Name: intensity
@@ -540,7 +521,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
@@ -557,7 +538,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -748,7 +729,7 @@ Visualization Manager:
Topic: /ana/move_base/current_goal
Unreliable: false
Value: true
- Enabled: false
+ Enabled: true
Name: Nav
- Class: rviz/Group
Displays:
@@ -757,33 +738,33 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 1.410619621111664e-8
- Min Value: -1.076524824838998e-8
+ Max Value: 0.9973819255828857
+ Min Value: -0.2792566418647766
Value: true
Axis: Z
Channel Name: intensity
- Class: rviz/LaserScan
- Color: 255; 0; 0
+ Class: rviz/PointCloud2
+ Color: 204; 0; 0
Color Transformer: FlatColor
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 4096
+ Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
- Name: lidar_obstacle
+ Name: lidar_obs
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 10
+ Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
- Topic: /ana/lidar_detector/scan_out
+ Topic: /ana/lidar_detector/obstacles
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -793,39 +774,27 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: Intensity
+ Color: 25; 255; 0
+ Color Transformer: FlatColor
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 121
+ Max Intensity: 0
Min Color: 0; 0; 0
- Min Intensity: 1
- Name: lidar_zone
+ Min Intensity: 0
+ Name: lidar_free
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 2
+ Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
- Topic: /ana/lidar_filter/cloud_out
+ Topic: /ana/lidar_detector/free_space
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
- - Class: rviz/Image
- Enabled: false
- Image Topic: /ana/lidar_detector/obstacles_img/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: lidar_image
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
+ Value: true
Enabled: true
Name: lidar
- Class: rviz/Group
@@ -899,8 +868,8 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
+ Color: 25; 255; 0
+ Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
@@ -914,7 +883,7 @@ Visualization Manager:
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
- Style: Squares
+ Style: Points
Topic: /ana/obstacle_detection_normals/free_space
Unreliable: false
Use Fixed Frame: true
@@ -929,8 +898,8 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
+ Color: 255; 25; 0
+ Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
@@ -944,7 +913,7 @@ Visualization Manager:
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
- Style: Flat Squares
+ Style: Points
Topic: /ana/obstacle_detection_normals/obstacles
Unreliable: false
Use Fixed Frame: true
@@ -962,7 +931,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -979,7 +948,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -992,7 +961,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -1009,8 +978,8 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
- Enabled: false
+ Value: false
+ Enabled: true
Name: camera
Enabled: true
Name: 3d_nav_detection
@@ -1042,33 +1011,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/XYOrbit
- Distance: 7.981015682220459
+ Distance: 4.152257919311523
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: -0.01600027084350586
- Y: 0.20595836639404297
- Z: -1.1920928955078125e-6
+ X: 0.24321186542510986
+ Y: -0.902637243270874
+ Z: -1.430511474609375e-6
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.6047971844673157
+ Pitch: 0.6097965836524963
Target Frame: ana/base_footprint
Value: XYOrbit (rviz)
- Yaw: 3.2740530967712402
+ Yaw: 4.134054660797119
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 1025
+ Height: 1052
Hide Left Dock: false
Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd0000000400000000000001d3000003a7fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072000000030c000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006500000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000564000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000002e6000003c2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072000000030c000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006500000000000000073d0000000000000000fb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000451000003c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Teleop:
@@ -1081,8 +1050,6 @@ Window Geometry:
collapsed: true
Width: 1853
X: 67
- Y: 27
- lidar_image:
- collapsed: false
+ Y: 0
realsense_color:
collapsed: false