diff --git a/launch/bringup.launch b/launch/bringup.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e01afcbfb405733cbf2c737bb285565cc8e568e6
--- /dev/null
+++ b/launch/bringup.launch
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="helena"/>
+
+ <arg name="pioneer_config_file" default="$(find iri_pioneer3_bringup)/config/params.yaml" />
+
+ <arg name="front_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_usb.yaml" />
+ <arg name="front_laser_node_name" default="front_laser" />
+
+ <arg name="rear_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_eth.yaml" />
+ <arg name="rear_laser_node_name" default="rear_laser" />
+
+ <arg name="output" default="log"/>
+ <arg name="launch_prefix" default=""/>
+
+ <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="config_file" value="$(arg pioneer_config_file)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <group ns="$(arg ns)">
+
+ <group ns="sensors">
+
+ <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
+ <arg name="config_file" value="$(arg front_laser_config_file)"/>
+ <arg name="node_name" value="$(arg front_laser_node_name)"/>
+ <arg name="output" value="$(arg output)"/>
+ </include>
+
+ <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
+ <arg name="config_file" value="$(arg rear_laser_config_file)"/>
+ <arg name="node_name" value="$(arg rear_laser_node_name)"/>
+ <arg name="output" value="$(arg output)"/>
+ </include>
+
+ </group>
+
+ </group>
+
+</launch>
+
diff --git a/launch/helena_test.launch b/launch/helena_test.launch
deleted file mode 100644
index 799200ea8b28fd560a0074e221fca0778ed8943b..0000000000000000000000000000000000000000
--- a/launch/helena_test.launch
+++ /dev/null
@@ -1,53 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-
- <arg name="front_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_usb.yaml" />
- <arg name="front_laser_node_name" default="front_laser" />
-
- <arg name="rear_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_eth.yaml" />
- <arg name="rear_laser_node_name" default="rear_laser" />
-
- <arg name="pioneer_config_file" default="$(find iri_pioneer3_bringup)/config/pioneer3.yaml" />
- <arg name="pioneer_node_name" default="pioneer3" />
-
- <arg name="output" default="log"/>
-
- <param name="robot_description"
- command="$(find xacro)/xacro --inorder '$(find iri_helena_description)/urdf/helena.xacro' name:=$(arg pioneer_node_name)" />
-
- <group ns="helena">
-
- <include file="$(find iri_pioneer3_bringup)/launch/pioneer3.launch">
- <arg name="config_file" value="$(arg pioneer_config_file)"/>
- <arg name="node_name" value="$(arg pioneer_node_name)"/>
- <arg name="output" value="$(arg output)"/>
- </include>
-
- <node pkg="robot_state_publisher" type="state_publisher" name="helena_tf_broadcaster">
- <param name="tf_prefix" type="string" value="/"/>
- <param name="publish_frequency" type="double" value="50.0"/>
- </node>
-
- <group ns="sensors">
- <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
- <arg name="config_file" value="$(arg front_laser_config_file)"/>
- <arg name="node_name" value="$(arg front_laser_node_name)"/>
- <arg name="output" value="$(arg output)"/>
- </include>
-
- <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
- <arg name="config_file" value="$(arg rear_laser_config_file)"/>
- <arg name="node_name" value="$(arg rear_laser_node_name)"/>
- <arg name="output" value="$(arg output)"/>
- </include>
- </group>
- </group>
-
-
- <node name="rviz"
- pkg="rviz"
- type="rviz"
- args="-d $(find iri_helena_bringup)/rviz/helena.rviz"/>
-
-</launch>
-
diff --git a/launch/test.launch b/launch/test.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8e76ca69a6e696eaa8832b6c2a44f2bfbe5c9e72
--- /dev/null
+++ b/launch/test.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="helena" />
+ <arg name="model" default="$(arg ns)"/>
+ <arg name="output" default="log" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_helena_bringup)/launch/bringup.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <include file="$(find iri_helena_description)/launch/description.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="model" value="$(arg model)"/>
+ <arg name="static_wheels" value="true"/>
+ </include>
+
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find iri_helena_bringup)/rviz/$(arg ns).rviz">
+ </node>
+
+</launch>
\ No newline at end of file
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index da92bc002a1f7c68c9b2f9241094473fcfa4663b..e9d1ff0c94b7e5410c385a13d01778bd7b384b80 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -3,7 +3,9 @@ Panels:
Help Height: 78
Name: Displays
Property Tree Widget:
- Expanded: ~
+ Expanded:
+ - /Global Options1
+ - /Status1
Splitter Ratio: 0.5
Tree Height: 633
- Class: rviz/Selection
@@ -24,7 +26,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: FrontLaserScan
+ SyncSource: ""
Visualization Manager:
Class: ""
Displays:
@@ -73,8 +75,6 @@ Visualization Manager:
Value: true
helena/front_sonar:
Value: true
- helena/odom:
- Value: true
helena/rear_hokuyo_base:
Value: true
helena/rear_hokuyo_scan_frame:
@@ -103,10 +103,8 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
- helena/odom:
+ helena/base_footprint:
helena/base_link:
- helena/base_footprint:
- {}
helena/front_left_axle:
helena/front_left_hub:
helena/front_left_wheel:
@@ -292,7 +290,7 @@ Visualization Manager:
Shaft Length: 0.5
Shaft Radius: 0.0500000007
Value: Arrow
- Topic: /helena/helena/odom
+ Topic: /helena/odom
Unreliable: false
Value: true
- Alpha: 1
@@ -359,7 +357,7 @@ Visualization Manager:
Global Options:
Background Color: 48; 48; 48
Default Light: true
- Fixed Frame: helena/odom
+ Fixed Frame: helena/base_footprint
Frame Rate: 30
Name: root
Tools:
diff --git a/rviz/helena_nav.rviz b/rviz/helena_nav.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..8bb0c5e0fc253e14dfdd277ed42fbdcc3eadf27f
--- /dev/null
+++ b/rviz/helena_nav.rviz
@@ -0,0 +1,662 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Status1
+ - /Sensors1
+ - /Sensors1/Odometry1/Shape1
+ - /Nav1
+ - /Nav1/DWA_local_planner1
+ - /Nav1/GlobalPlanner1
+ - /Nav1/RRT_planner1
+ Splitter Ratio: 0.5
+ Tree Height: 608
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ - /Set Attractor2 D1
+ - /Set Repulsor2 D1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679016
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: FrontLaserScan
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.0299999993
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ helena/base_footprint:
+ Value: true
+ helena/base_link:
+ Value: true
+ helena/body:
+ Value: true
+ helena/caster_support:
+ Value: true
+ helena/front_caster_wheel:
+ Value: true
+ helena/front_hokuyo_base:
+ Value: true
+ helena/front_hokuyo_scan_frame:
+ Value: true
+ helena/front_support:
+ Value: true
+ helena/head:
+ Value: true
+ helena/left_arm:
+ Value: true
+ helena/left_wheel_link:
+ Value: true
+ helena/odom:
+ Value: true
+ helena/rear_caster_wheel:
+ Value: true
+ helena/rear_hokuyo_base:
+ Value: true
+ helena/rear_hokuyo_scan_frame:
+ Value: true
+ helena/rear_support:
+ Value: true
+ helena/right_arm:
+ Value: true
+ helena/right_wheel_link:
+ Value: true
+ helena/top_plate:
+ Value: true
+ map:
+ Value: true
+ Marker Scale: 0.5
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ helena/odom:
+ helena/base_footprint:
+ helena/base_link:
+ helena/caster_support:
+ {}
+ helena/front_hokuyo_base:
+ helena/front_hokuyo_scan_frame:
+ {}
+ helena/front_support:
+ helena/front_caster_wheel:
+ {}
+ helena/left_wheel_link:
+ {}
+ helena/rear_hokuyo_base:
+ helena/rear_hokuyo_scan_frame:
+ {}
+ helena/rear_support:
+ helena/rear_caster_wheel:
+ {}
+ helena/right_wheel_link:
+ {}
+ helena/top_plate:
+ helena/body:
+ {}
+ helena/head:
+ {}
+ helena/left_arm:
+ {}
+ helena/right_arm:
+ {}
+ Update Interval: 0
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_hokuyo_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_hokuyo_scan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_hokuyo_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_hokuyo_scan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_plate:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: helena/robot_description
+ TF Prefix: helena
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.300000012
+ Class: rviz/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.300000012
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.300000012
+ Shape:
+ Alpha: 0.5
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Color: 255; 25; 0
+ Head Length: 0.0500000007
+ Head Radius: 0.0500000007
+ Shaft Length: 0.25
+ Shaft Radius: 0.0250000004
+ Value: Arrow
+ Topic: /helena/odom
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 85; 0; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: FrontLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/front_hokuyo_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 85; 170; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: RearLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/rear_hokuyo_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Name: Sensors
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: true
+ Enabled: true
+ Name: Map
+ Topic: /helena/map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 25; 255; 0
+ Enabled: true
+ Name: FootprintPolygon
+ Topic: /helena/move_base/local_costmap/footprint
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: LocalCostmapMap
+ Topic: /helena/move_base/local_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: GlobalCostmapMap
+ Topic: /helena/move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Class: rviz/Pose
+ Color: 255; 255; 0
+ Enabled: true
+ Head Length: 0.300000012
+ Head Radius: 0.100000001
+ Name: GoalPose
+ Shaft Length: 1
+ Shaft Radius: 0.0500000007
+ Shape: Arrow
+ Topic: /helena/move_base_simple/goal
+ Unreliable: false
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: LocalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /helena/move_base/DWAPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: GlobalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /helena/move_base/DWAPlannerROS/global_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: total_cost
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 622.77002
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: CostPointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.100000001
+ Style: Points
+ Topic: /helena/move_base/DWAPlannerROS/cost_cloud
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: total_cost
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 67.1999969
+ Min Color: 0; 0; 0
+ Min Intensity: 62.4000015
+ Name: TrajectoryPointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.00999999978
+ Style: Squares
+ Topic: /helena/move_base/DWAPlannerROS/trajectory_cloud
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Name: DWA_local_planner
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: GlobalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /helena/move_base/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: true
+ Name: PotentialMap
+ Topic: /helena/move_base/GlobalPlanner/potential
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ Enabled: true
+ Name: GlobalPlanner
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 170; 85; 255
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: RrtPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.0299999993
+ Shaft Diameter: 0.100000001
+ Shaft Length: 0.100000001
+ Topic: /helena/move_base/RrtPlanner/plan
+ Unreliable: false
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /helena/move_base/RrtPlanner/rrt_markers
+ Name: RRTMarkerArray
+ Namespaces:
+ "": true
+ Queue Size: 1
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /helena/move_base/RrtPlanner/obstacle_markers
+ Name: ObstaclesMarkerArray
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /rviz/sfm_rep_markers
+ Name: SFMMarkerArray
+ Namespaces:
+ "": true
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Name: RRT_planner
+ Enabled: true
+ Name: Nav
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /helena/initialpose
+ - Class: rviz/SetGoal
+ Topic: /helena/move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ - Class: rviz_sfm_plugins/SetAttractor2D
+ - Class: rviz_sfm_plugins/SetRepulsor2D
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 22.1068153
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.0599999987
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.00999999978
+ Pitch: 0.785398185
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.785398185
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
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+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 65
+ Y: 26