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Commit d302f972 authored by Sergi Hernandez's avatar Sergi Hernandez
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Merge branch 'master' of ssh://gitlab.iri.upc.edu:2202/labrobotica/ros/robots/ana/iri_ana_rosnav

parents 7d0d4da9 8fea02ce
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launch/nav_map.launch
+ 2
− 1
View file @ d302f972
......@@ -53,10 +53,11 @@
<arg name="node_name" value="pcl_to_laserscan"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
<arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
......
launch/nav_mapping.launch
+ 5
− 3
View file @ d302f972
......@@ -3,6 +3,7 @@
<launch>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
<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"/>
......@@ -44,19 +45,20 @@
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<arg name="ns" value="ana"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
<arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(find iri_ana_rosnav)/rviz/ana.rviz">
args="-d $(arg rviz_file)">
</node>
</launch>
launch/nav_nomap.launch
+ 4
− 2
View file @ d302f972
......@@ -3,6 +3,7 @@
<launch>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
<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"/>
......@@ -44,15 +45,16 @@
<arg name="node_name" value="pcl_to_laserscan"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
<arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(find iri_ana_rosnav)/rviz/ana.rviz">
args="-d $(arg rviz_file)">
</node>
</launch>
params/amcl.yaml
+ 9
− 9
View file @ d302f972
......@@ -10,12 +10,12 @@ min_particles: 100
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
update_min_d: 0.1
update_min_a: 0.1
resample_interval: 2
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.1
recovery_alpha_fast: 0.5
initial_cov_xx: 0.25
initial_cov_yy: 0.25
initial_cov_aa: 0.0685
......@@ -37,9 +37,9 @@ laser_likelihood_max_dist: 2.0
laser_model_type: 'likelihood_field'
# odom parameters
odom_model_type: "diff"
odom_alpha1: 0.005
odom_alpha2: 0.005
odom_alpha3: 0.010
odom_alpha4: 0.005
odom_alpha5: 0.003
odom_alpha1: 5.0
odom_alpha2: 5.0
odom_alpha3: 0.2
odom_alpha4: 0.2
odom_alpha5: 0.2
tf_broadcast: true
params/costmap/common_params.yaml
+ 2
− 1
View file @ d302f972
# footprint parameters
footprint: [[0.35, 0.35], [0.35, -0.35], [-0.35,-0.35 ], [-0.35, 0.35]]
#footprint: [[0.35, 0.35], [0.35, -0.35], [-0.35,-0.35 ], [-0.35, 0.35]]
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3,-0.3 ], [-0.3, 0.3]]
#robot_radius: 0.35
footprint_padding: 0.01
footprint_topic: /ana/footprint
......
params/costmap/local_params.yaml
+ 1
− 1
View file @ d302f972
......@@ -12,4 +12,4 @@ origin_y: 0.0
#costmap plugins
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/no_map/global_params.yaml
+ 1
− 1
View file @ d302f972
......@@ -12,4 +12,4 @@ origin_y: 0.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
rviz/ana.rviz
+ 79
− 34
View file @ d302f972
......@@ -6,8 +6,9 @@ Panels:
Expanded:
- /Sensors1
- /Nav1
- /People1
Splitter Ratio: 0.5
Tree Height: 525
Tree Height: 418
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -98,27 +99,27 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
camera_left_ir_frame:
camera_infra1_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_left_ir_optical_frame:
camera_infra1_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
camera_infra2_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_right_ir_frame:
camera_infra2_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_right_ir_optical_frame:
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_axle:
Alpha: 1
Show Axes: false
......@@ -230,8 +231,14 @@ 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:
......@@ -242,15 +249,15 @@ 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:
ana/camera_link:
Value: true
ana/front_left_axle:
Value: true
......@@ -292,9 +299,15 @@ Visualization Manager:
Value: true
ana/velodyne_base:
Value: true
map:
camera_accel_frame:
Value: true
camera_accel_optical_frame:
Value: true
camera_gyro_frame:
Value: true
world:
camera_gyro_optical_frame:
Value: true
map:
Value: true
Marker Scale: 0.100000001
Name: TF
......@@ -332,26 +345,36 @@ Visualization Manager:
ana/ana_realsense_support:
ana/camera_bottom_screw_frame:
ana/camera_link:
ana/camera_aligned_depth_to_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_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/camera_infra1_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:
{}
world:
{}
ana/base_footprint_robot:
{}
Update Interval: 0
Value: true
- Class: rviz/Group
......@@ -399,7 +422,7 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (Pixels): 5
Size (m): 0.00999999978
Style: Points
Topic: /ana/sensors/nav_cam/depth_registered/points
......@@ -410,9 +433,9 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.88618803
Min Value: -0.370943904
Value: true
Max Value: 3.4000001
Min Value: -0.180000007
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
......@@ -489,7 +512,7 @@ Visualization Manager:
Topic: /ana/move_base/global_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.699999988
- Alpha: 0.5
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
......@@ -499,7 +522,7 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988
- Alpha: 0.300000012
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
......@@ -572,6 +595,28 @@ Visualization Manager:
Value: true
Enabled: true
Name: Nav
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /ana/lpmf/markers
Name: lpmf
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /ana/mht/markers
Name: mht
Namespaces:
cov_track: true
id: true
vel: true
Queue Size: 100
Value: true
Enabled: true
Name: People
Enabled: true
Global Options:
Background Color: 48; 48; 48
......@@ -620,10 +665,10 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
Height: 1028
Height: 876
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003befc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000029c000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007201000002ca0000011c0000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000231000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f0072010000025f000000ef0000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000034f0000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......@@ -632,7 +677,7 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1855
Width: 1215
X: 65
Y: 24
realsense_color:
......
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