diff --git a/config/camera_average_filter_config.yaml b/config/camera_average_filter_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..2bb9a8ae2ee452fa358b3ea50fdd32e40168995f
--- /dev/null
+++ b/config/camera_average_filter_config.yaml
@@ -0,0 +1 @@
+iBuffer: 5
diff --git a/config/camera_hole_detector_far_config.yaml b/config/camera_hole_detector_far_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..0e90a86df029fd7bc09020b710bc16cb8e38bbe7
--- /dev/null
+++ b/config/camera_hole_detector_far_config.yaml
@@ -0,0 +1,7 @@
+hole_min_p: 25
+num_cells: 3
+box_y: 0.8
+box_z_ini: -0.1
+box_z_end: 0.1
+box_x_ini: 1.0
+box_x_end: 1.4
diff --git a/config/camera_hole_detector_near_config.yaml b/config/camera_hole_detector_near_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..84ad071579b43db7c8ab6123f87944dc686a4a04
--- /dev/null
+++ b/config/camera_hole_detector_near_config.yaml
@@ -0,0 +1,7 @@
+hole_min_p: 25
+num_cells: 2
+box_y: 0.45
+box_z_ini: -0.1
+box_z_end: 0.1
+box_x_ini: 0.6
+box_x_end: 1.0
diff --git a/config/camera_obstacle_normals_config.yaml b/config/camera_obstacle_normals_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..1ce6dbef806f81974b01423a9fca4ec9de6bae1d
--- /dev/null
+++ b/config/camera_obstacle_normals_config.yaml
@@ -0,0 +1,3 @@
+filter_min_dist: 0.3
+normal_KSearch: 30
+max_inc: 0.25
diff --git a/config/lidar_angle_filter_config.yaml b/config/lidar_angle_filter_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d7af1484d2e8ff10aa0f4108b0b0659f50d74206
--- /dev/null
+++ b/config/lidar_angle_filter_config.yaml
@@ -0,0 +1 @@
+n_pairs: 0
diff --git a/config/lidar_obstacle_detector_config.yaml b/config/lidar_obstacle_detector_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..3cb0a25576fa87d6ff65c562d77593e2aedb258c
--- /dev/null
+++ b/config/lidar_obstacle_detector_config.yaml
@@ -0,0 +1,17 @@
+# sensor information
+base_frame_id: "ana/base_footprint"
+min_range: 0.1
+max_range: 50.0
+sensor_height: 0.3
+# node configuration
+debug: True
+max_inc: 0.3
+min_inc: 0.05
+inc_area_filter: 10
+max_ring: 10
+# farthest point computation
+farthest_enable: False
+farthest_num_rings: 9
+# virtual point computation
+virtual_enable: False
+virtual_floor_threshold: 0.03
diff --git a/launch/3d_nav_map.launch b/launch/3d_nav_map.launch
index a6f426dad1d945790dc1fa8cb8213644f2dc9da8..25a2240560de0e73c916272b04bfd667149bee43 100644
--- a/launch/3d_nav_map.launch
+++ b/launch/3d_nav_map.launch
@@ -8,9 +8,9 @@
<arg name="path" default="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
- <arg name="costmap_common_params" default="common_params.yaml"/>
- <arg name="costmap_local_params" default="local_params.yaml"/>
- <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="costmap_common_params" default="3d_common_params.yaml"/>
+ <arg name="costmap_local_params" default="3d_local_params.yaml"/>
+ <arg name="costmap_global_params" default="3d_global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty" />
<arg name="initial_x" default="0.0"/>
diff --git a/launch/3d_nav_nomap.launch b/launch/3d_nav_nomap.launch
index 310365f7ddf5bb0330f66d3f32c43eb7f384ca36..685c0b22a53ab7f0adcd62e25282d5322eeff855 100644
--- a/launch/3d_nav_nomap.launch
+++ b/launch/3d_nav_nomap.launch
@@ -8,9 +8,9 @@
<arg name="path" default="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
- <arg name="costmap_common_params" default="common_params.yaml"/>
- <arg name="costmap_local_params" default="local_params.yaml"/>
- <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="costmap_common_params" default="3d_common_params.yaml"/>
+ <arg name="costmap_local_params" default="3d_local_params.yaml"/>
+ <arg name="costmap_global_params" default="3d_global_params.yaml"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<!--<arg name="map_name" default="empty" />-->
<arg name="initial_x" default="0.0"/>
diff --git a/launch/include/3d_nav.launch b/launch/include/3d_nav.launch
index acfb9521000743c99dfec4f40f2f2cd3cc8b2240..e2cee4cf85a5258c635b7fcb64b8ca990f2d5304 100644
--- a/launch/include/3d_nav.launch
+++ b/launch/include/3d_nav.launch
@@ -13,10 +13,10 @@
<arg name="use_nodelets" value="$(arg use_nodelets)"/>
<arg name="lidar_nodelet_manager" value="lidar_nodelet_manager"/>
<arg name="lidar_filter_node_name" value="lidar_filter"/>
- <arg name="lidar_filter_config_file" value="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
+ <arg name="lidar_filter_config_file" value="$(find iri_ana_rosnav)/config/lidar_angle_filter_config.yaml"/>
<arg name="lidar_filter_cloud_in" value="/ana/sensors/velodyne_points" />
<arg name="lidar_detector_node_name" value="lidar_detector"/>
- <arg name="lidar_detector_config_file" value="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
+ <arg name="lidar_detector_config_file" value="$(find iri_ana_rosnav)/config/lidar_obstacle_detector_config.yaml"/>
</include>
<include file="$(find iri_rosnav)/launch/include/3d_nav_camera.launch">
@@ -28,15 +28,15 @@
<arg name="hole_nodelet_manager" value="hole_nodelet_manager" />
<arg name="camera_cloud_in" value="sensors/nav_cam/depth_registered/points"/>
<arg name="average_node_name" value="average_point_cloud"/>
- <arg name="average_config_file" value="$(find iri_average_point_cloud)/config/default_config.yaml"/>
+ <arg name="average_config_file" value="$(find iri_ana_rosnav)/config/camera_average_filter_config.yaml"/>
<arg name="normals_node_name" value="obstacle_detection_normals"/>
- <arg name="normals_config_file" value="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+ <arg name="normals_config_file" value="$(find iri_ana_rosnav)/config/camera_obstacle_normals_config.yaml"/>
<arg name="near_hole_detection_node_name" value="near_hole_detection"/>
- <arg name="near_hole_detection_config_file" value="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
+ <arg name="near_hole_detection_config_file" value="$(find iri_ana_rosnav)/config/camera_hole_detector_near_config.yaml"/>
<arg name="hole_detection_cloud_in" value="radius_outlier_removal/output"/>
<arg name="far_hole_detection_node_name" value="far_hole_detection"/>
- <arg name="far_hole_detection_config_file" value="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
+ <arg name="far_hole_detection_config_file" value="$(find iri_ana_rosnav)/config/camera_hole_detector_far_config.yaml"/>
</include>
-
+
</launch>
diff --git a/params/costmap/3d_common_params.yaml b/params/costmap/3d_common_params.yaml
index 256a3fbfc689e5cf08f5785f3c28bf122297a376..402900c58a3d01018470d7ee2f613ee24cb94e7e 100755
--- a/params/costmap/3d_common_params.yaml
+++ b/params/costmap/3d_common_params.yaml
@@ -11,7 +11,7 @@ always_send_full_costmap: false
transform_tolerance: 1.0
width: 10.0
height: 10.0
-resolution: 0.1
+resolution: 0.05
origin_x: 0.0
origin_y: 0.0
@@ -22,13 +22,26 @@ obstacle_layer_lidar:
max_obstacle_height: 10.0
footprint_clearing_enabled: false
combination_method: 1
- observation_sources: lidar_marking
+ observation_sources: lidar_marking lidar_clearing
lidar_marking: {
sensor_frame: ana/base_footprint,
- data_type: LaserScan,
- topic: /ana/lidar_detector/scan_out,
+ data_type: PointCloud2,
+ topic: /ana/lidar_detector/obstacles,
observation_persistence: 0.0,
marking: true,
+ clearing: false,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 200.0
+ }
+ lidar_clearing: {
+ sensor_frame: ana/base_footprint,
+ data_type: PointCloud2,
+ topic: /ana/lidar_detector/free_space,
+ observation_persistence: 0.0,
+ marking: false,
clearing: true,
min_obstacle_height: -10.0,
max_obstacle_height: 10.0,
@@ -41,20 +54,34 @@ obstacle_layer_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
- max_obstacle_height: 100.0 #1.0
+ max_obstacle_height: 10.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
- observation_sources: camera_marking
+ observation_sources: camera_marking camera_clearing
camera_marking: {
sensor_frame: ana/base_footprint,
- data_type: PointCloud,
+ data_type: PointCloud2,
topic: /ana/obstacle_detection_normals/obstacles,
observation_persistence: 0.0,
marking: true,
+ clearing: false,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 10.0
+ }
+
+ camera_clearing: {
+ sensor_frame: ana/base_footprint,
+ data_type: PointCloud2,
+ topic: /ana/obstacle_detection_normals/free_space,
+ observation_persistence: 0.0,
+ marking: false,
clearing: true,
- min_obstacle_height: -100.0,
- max_obstacle_height: 100.0,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
@@ -64,7 +91,7 @@ hole_layer_near_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
- max_obstacle_height: 100.0 #1.0
+ max_obstacle_height: 10.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_near_marking hole_near_clearing
@@ -76,8 +103,8 @@ hole_layer_near_camera:
observation_persistence: 0.0,
marking: true,
clearing: false,
- min_obstacle_height: -100.0,
- max_obstacle_height: 100.0,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
@@ -90,8 +117,8 @@ hole_layer_near_camera:
observation_persistence: 0.0,
marking: false,
clearing: true,
- min_obstacle_height: -100.0,
- max_obstacle_height: 100.0,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
@@ -101,7 +128,7 @@ hole_layer_far_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
- max_obstacle_height: 100.0 #1.0
+ max_obstacle_height: 10.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_far_marking hole_far_clearing
@@ -113,8 +140,8 @@ hole_layer_far_camera:
observation_persistence: 0.0,
marking: true,
clearing: false,
- min_obstacle_height: -100.0,
- max_obstacle_height: 100.0,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
@@ -127,8 +154,8 @@ hole_layer_far_camera:
observation_persistence: 0.0,
marking: false,
clearing: true,
- min_obstacle_height: -100.0,
- max_obstacle_height: 100.0,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
@@ -137,6 +164,5 @@ hole_layer_far_camera:
inflation_layer:
enabled: true
inflate_unknown: false
- inflation_radius: 2.0
cost_scaling_factor: 1.8
- inflation_radius: 1.0
+ inflation_radius: 0.5
diff --git a/params/costmap/3d_local_params.yaml b/params/costmap/3d_local_params.yaml
index 3a1d990ad00d82e789e25d59fbc2925f002dae1f..ef38a3e8f5f9fe03f4c655b9fb9135ec286ffa2b 100755
--- a/params/costmap/3d_local_params.yaml
+++ b/params/costmap/3d_local_params.yaml
@@ -5,7 +5,7 @@ publish_frequency: 2.0
rolling_window: true
width: 10.0
height: 10.0
-resolution: 0.1
+resolution: 0.05
#origin_x: 0.0
#origin_y: 0.0
diff --git a/params/costmap/no_map/3d_global_params.yaml b/params/costmap/no_map/3d_global_params.yaml
index 2bfcdd2c858e8e31cc41832bbbe24ce7520204e3..e76bc74933c79dceaff0b11cc4500a19ba69d9c9 100644
--- a/params/costmap/no_map/3d_global_params.yaml
+++ b/params/costmap/no_map/3d_global_params.yaml
@@ -6,7 +6,7 @@ rolling_window: true
transform_tolerance: 1.0
width: 20.0
height: 20.0
-resolution: 0.2
+resolution: 0.05
origin_x: 0.0
origin_y: 0.0
diff --git a/params/move_base_params.yaml b/params/move_base_params.yaml
index 7d1a6b7c40ce36dfae673122def3aad44c251a1d..aa2617cc87ad0e02b5230460302df13923745d1c 100644
--- a/params/move_base_params.yaml
+++ b/params/move_base_params.yaml
@@ -9,11 +9,11 @@ recovery_behaviors:
- {name: twist_recovery, type: twist_recovery/TwistRecovery}
- {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
-controller_frequency: 4.0
-planner_patience: 8.0
+controller_frequency: 10.0
+planner_patience: 5.0
controller_patience: 5.0
-planner_frequency: 5.0
-max_planning_retries: 5.0
+planner_frequency: 1.0
+max_planning_retries: -1
conservative_reset_dist: 3.0
diff --git a/rviz/3d_ana.rviz b/rviz/3d_ana.rviz
index ee71377cb17ceb4333eeece70caa50bcdc062bd9..40689e0035212c2c17611b7d7b5f5648dd84be16 100644
--- a/rviz/3d_ana.rviz
+++ b/rviz/3d_ana.rviz
@@ -10,8 +10,8 @@ Panels:
- /3d_nav_detection1
- /3d_nav_detection1/lidar1
- /3d_nav_detection1/camera1
- Splitter Ratio: 0.548672557
- Tree Height: 693
+ Splitter Ratio: 0.5486725568771362
+ Tree Height: 796
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -20,7 +20,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679016
+ Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@@ -30,10 +30,12 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: lidar_obstacle
+ SyncSource: far_hole_vision
- Class: rviz_plugin_tutorials/Teleop
Name: Teleop
Topic: ""
+Preferences:
+ PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@@ -45,7 +47,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.0299999993
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -292,8 +294,12 @@ 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_bottom_screw_frame:
Value: true
ana/camera_color_frame:
@@ -372,8 +378,6 @@ Visualization Manager:
Value: true
ana/rear_sonar:
Value: true
- ana/tilt_frame:
- Value: true
ana/top_plate:
Value: true
ana/velodyne:
@@ -382,9 +386,7 @@ Visualization Manager:
Value: true
map:
Value: true
- world:
- Value: true
- Marker Scale: 0.100000001
+ Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
@@ -417,28 +419,15 @@ 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_color_frame:
+ ana/camera_aligned_depth_to_color_frame:
ana/camera_color_optical_frame:
{}
+ ana/camera_color_frame:
+ {}
ana/camera_depth_frame:
ana/camera_depth_optical_frame:
{}
@@ -454,8 +443,8 @@ Visualization Manager:
ana/imu_bno055_base:
ana/imu_bno055:
{}
- world:
- {}
+ ana/base_footprint_robot:
+ {}
Update Interval: 0
Value: true
- Class: rviz/Group
@@ -504,7 +493,7 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Points
Topic: /ana/sensors/nav_cam/depth_registered/points
Unreliable: false
@@ -514,8 +503,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 16.4100227
- Min Value: -0.00643271208
+ Max Value: 16.410022735595703
+ Min Value: -0.006432712078094482
Value: true
Axis: Z
Channel Name: intensity
@@ -534,7 +523,7 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Points
Topic: /ana/sensors/velodyne_points
Unreliable: false
@@ -564,7 +553,7 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Points
Topic: /ana/sensors/scan
Unreliable: false
@@ -575,7 +564,7 @@ Visualization Manager:
Name: Sensors
- Class: rviz/Group
Displays:
- - Alpha: 0.699999988
+ - Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: true
@@ -597,7 +586,7 @@ Visualization Manager:
Scale: 1
Value: true
Position:
- Alpha: 0.300000012
+ Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
@@ -609,12 +598,12 @@ Visualization Manager:
Shape:
Alpha: 0.75
Axes Length: 1
- Axes Radius: 0.100000001
+ Axes Radius: 0.10000000149011612
Color: 255; 25; 0
- Head Length: 0.300000012
- Head Radius: 0.100000001
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
Shaft Length: 1
- Shaft Radius: 0.0500000007
+ Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /ana/odom
Unreliable: false
@@ -637,7 +626,7 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- - Alpha: 0.699999988
+ - Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
@@ -652,11 +641,11 @@ Visualization Manager:
Class: rviz/Path
Color: 85; 255; 0
Enabled: true
- Head Diameter: 0.300000012
- Head Length: 0.200000003
- Length: 0.300000012
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
Line Style: Lines
- Line Width: 0.0299999993
+ Line Width: 0.029999999329447746
Name: GlobalPlanner_global_plan
Offset:
X: 0
@@ -664,9 +653,9 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
- Radius: 0.0299999993
- Shaft Diameter: 0.100000001
- Shaft Length: 0.100000001
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
Topic: /ana/move_base/GlobalPlanner/plan
Unreliable: false
Value: true
@@ -675,11 +664,11 @@ Visualization Manager:
Class: rviz/Path
Color: 0; 0; 255
Enabled: true
- Head Diameter: 0.300000012
- Head Length: 0.200000003
- Length: 0.300000012
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
Line Style: Lines
- Line Width: 0.0299999993
+ Line Width: 0.029999999329447746
Name: DWA_global_plan
Offset:
X: 0
@@ -687,9 +676,9 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
- Radius: 0.0299999993
- Shaft Diameter: 0.100000001
- Shaft Length: 0.100000001
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
Topic: /ana/move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
@@ -698,11 +687,11 @@ Visualization Manager:
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
- Head Diameter: 0.300000012
- Head Length: 0.200000003
- Length: 0.300000012
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
Line Style: Lines
- Line Width: 0.0299999993
+ Line Width: 0.029999999329447746
Name: DWA_local_plan
Offset:
X: 0
@@ -710,23 +699,23 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
- Radius: 0.0299999993
- Shaft Diameter: 0.100000001
- Shaft Length: 0.100000001
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
Topic: /ana/move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
- Axes Radius: 0.100000001
+ Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 255; 0
Enabled: true
- Head Length: 0.300000012
- Head Radius: 0.100000001
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
Name: CurrentGoal
Shaft Length: 1
- Shaft Radius: 0.0500000007
+ Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /ana/move_base/current_goal
Unreliable: false
@@ -740,8 +729,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 1.41061962e-08
- Min Value: -1.07652482e-08
+ Max Value: 1.410619621111664e-8
+ Min Value: -1.076524824838998e-8
Value: true
Axis: Z
Channel Name: intensity
@@ -760,7 +749,7 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 10
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Points
Topic: /ana/lidar_detector/scan_out
Unreliable: false
@@ -770,8 +759,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 0.997381926
- Min Value: -0.279256642
+ Max Value: 0.9973819255828857
+ Min Value: -0.2792566418647766
Value: true
Axis: Z
Channel Name: intensity
@@ -779,24 +768,24 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 0
+ Max Intensity: 157
Min Color: 0; 0; 0
- Min Intensity: 0
+ Min Intensity: 1
Name: lidar_zone
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Points
Topic: /ana/lidar_filter/cloud_out
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /ana/lidar_detector/obstacles_img/image_raw
@@ -825,7 +814,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -836,13 +825,13 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /ana/near_hole_detection/hole_zone
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -855,7 +844,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -866,13 +855,13 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /ana/far_hole_detection/hole_zone
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -885,24 +874,24 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
- Name: obstacle_vision
+ Name: free_space_vision
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Squares
- Topic: /ana/obstacle_detection_normals/all_rg
+ Topic: /ana/obstacle_detection_normals/free_space
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -911,28 +900,28 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
- Class: rviz/PointCloud
+ Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
- Name: obstacle_normals
+ Name: obstacles_vision
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 10
- Size (m): 0.00999999978
- Style: Points
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
Topic: /ana/obstacle_detection_normals/obstacles
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -945,7 +934,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -956,13 +945,13 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /ana/far_hole_detection/hole_obstacle
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -975,7 +964,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -986,13 +975,13 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.00999999978
+ Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /ana/near_hole_detection/hole_obstacle
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
Enabled: true
Name: camera
Enabled: true
@@ -1012,7 +1001,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
Topic: /ana/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /ana/move_base_simple/goal
- Class: rviz/PublishPoint
@@ -1022,33 +1014,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/XYOrbit
- Distance: 36.5628128
+ Distance: 3.5477471351623535
Enable Stereo Rendering:
- Stereo Eye Separation: 0.0599999987
+ Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.248147249
- Y: -1.80030918
- Z: 0
+ X: 0.5333200693130493
+ Y: 0.21448162198066711
+ Z: -9.5367431640625e-7
Focal Shape Fixed Size: false
- Focal Shape Size: 0.0500000007
+ Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.00999999978
- Pitch: 0.870397925
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.3147964477539062
Target Frame: ana/base_footprint
Value: XYOrbit (rviz)
- Yaw: 4.69358253
+ Yaw: 1.6722356081008911
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 906
+ Height: 1025
Hide Left Dock: false
Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd0000000400000000000001d300000344fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000344000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002630000011b0000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004900fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006a80000007efc0100000003fb00000016006c0069006400610072005f0069006d0061006700650000000000000006a80000008200fffffffb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004cf0000034400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000001d3000003a7fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002630000011b0000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006500000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000564000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Teleop:
@@ -1059,9 +1051,9 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
- Width: 1704
- X: 111
- Y: 78
+ Width: 1853
+ X: 67
+ Y: 27
lidar_image:
collapsed: false
realsense_color: