diff --git a/launch/nav_test.launch b/launch/nav_test.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4e46becb246dfa4229f361a00a436418e9d9c972
--- /dev/null
+++ b/launch/nav_test.launch
@@ -0,0 +1,42 @@
+<?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>
+
diff --git a/package.xml b/package.xml
index c2f071d9c440b7181a13fd175cf35d0598cea48b..33d2de159ebfbb2ca31f195329d8c802ae0a5fc5 100644
--- a/package.xml
+++ b/package.xml
@@ -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 -->
diff --git a/rviz/ana.rviz b/rviz/ana.rviz
index 42f17a0d45e21d6f4833a6a010d526f07e2e33e9..fc6202f20c649217874abf9b0c9de620b49b6e26 100644
--- a/rviz/ana.rviz
+++ b/rviz/ana.rviz
@@ -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: