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Commit a190027a authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the dependency for the pointcloud_to_laserscan package.

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launch/nav_test.launch 0 → 100644
+ 42
− 0
View file @ a190027a
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="use_map_server" default="false"/>
<arg name="map_frame_id" default="map"/>
<arg name="map" default=""/>
<arg name="use_amcl" default="false"/>
<arg name="amcl_config" default="$(find iri_ana_rosnav)/params/amcl_default.yaml"/>
<arg name="use_fake_loc" default="false"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_cmd_vel_mux" default="false"/>
<arg name="cmd_vel_mux_config" default="$(find iri_ana_rosnav)/params/cmd_vel_mux_default.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global"/>
<include file="$(find iri_ana_rosnav)/launch/nav.launch">
<arg name="use_map_server" value="$(arg use_map_server)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="map" value="$(arg map)"/>
<arg name="use_amcl" value="$(arg use_amcl)"/>
<arg name="amcl_config" value="$(arg amcl_config)"/>
<arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
<arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_ana_rosnav)/rviz/ana_nav.rviz"/>
</launch>
package.xml
+ 1
− 0
View file @ a190027a
......@@ -43,6 +43,7 @@
<run_depend>yocs_cmd_vel_mux</run_depend>
<run_depend>navigation</run_depend>
<run_depend>gmapping</run_depend>
<run_depend>pointcloud_to_laserscan</run_depend>
<!-- The export tag contains other, unspecified, tags -->
......
rviz/ana.rviz
+ 16
− 261
View file @ a190027a
......@@ -5,10 +5,11 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1
- /Sensors1
- /Nav1
Splitter Ratio: 0.5
Tree Height: 545
Tree Height: 525
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -61,159 +62,6 @@ Visualization Manager:
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_left_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_left_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_right_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
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
......@@ -225,15 +73,11 @@ Visualization Manager:
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_link:
ana/camera_aligned_depth_to_color_frame:
Value: true
ana/camera_bottom_screw_frame:
ana/camera_aligned_depth_to_infra1_frame:
Value: true
ana/camera_color_frame:
Value: true
......@@ -243,115 +87,26 @@ Visualization Manager:
Value: true
ana/camera_depth_optical_frame:
Value: true
ana/camera_left_ir_frame:
ana/camera_infra1_frame:
Value: true
ana/camera_left_ir_optical_frame:
ana/camera_infra1_optical_frame:
Value: true
ana/camera_link:
ana/camera_infra2_frame:
Value: true
ana/camera_right_ir_frame:
ana/camera_infra2_optical_frame:
Value: true
ana/camera_right_ir_optical_frame:
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:
ana/camera_link:
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
map:
Value: true
world:
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_depth_frame:
ana/camera_color_frame:
ana/camera_color_optical_frame:
{}
ana/camera_depth_optical_frame:
{}
ana/camera_left_ir_frame:
ana/camera_left_ir_optical_frame:
{}
ana/camera_right_ir_frame:
ana/camera_right_ir_optical_frame:
{}
ana/velodyne_base:
ana/velodyne:
{}
ana/imu_bno055_base:
ana/imu_bno055:
{}
world:
ana/odom:
ana/base_footprint:
{}
Update Interval: 0
Value: true
......@@ -577,7 +332,7 @@ Visualization Manager:
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Fixed Frame: ana/odom
Frame Rate: 30
Name: root
Tools:
......@@ -613,18 +368,18 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.24539828
Pitch: 0.585398912
Target Frame: ana/base_footprint
Value: Orbit (rviz)
Yaw: 0.0253970772
Yaw: 0.390396923
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Height: 1028
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002b0000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002de000001240000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003befc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000029c000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002ca0000011c0000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......
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