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Commit 26c8db6e authored by Fernando Herrero's avatar Fernando Herrero
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Update costmap_common yaml parameters to use rslidar instead of previous front/rear lasers

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params/costmap/common_params.yaml
+ 17
− 16
View file @ 26c8db6e
......@@ -22,33 +22,34 @@ obstacle_layer:
max_obstacle_height: 1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: front_laser rear_laser
front_laser: {
sensor_frame: /helena/front_hokuyo_scan_frame,
data_type: LaserScan,
topic: /helena/sensors/front_laser_scan,
observation_sources: velodyne #depth_cam
velodyne: {
sensor_frame: /helena/robosense,
data_type: PointCloud2,
topic: /ana/sensors/rslidar_points,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: 0.05,
max_obstacle_height: 1.8,
expected_update_rate: 10,
max_obstacle_height: 1.0,
expected_update_rate: 1,
obstacle_range: 30.0,
raytrace_range: 40.0
}
rear_laser: {
sensor_frame: /helena/rear_hokuyo_scan_frame,
data_type: LaserScan,
topic: /helena/sensors/rear_laser_scan,
depth_cam: {
sensor_frame: /helena/camera_color_optical_frame,
data_type: PointCloud2,
topic: /helena/sensors/nav_cam/depth_registered/points,
observation_persistence: 0.0,
marking: true,
clearing: true,
clearing: false,
min_obstacle_height: 0.05,
max_obstacle_height: 1.8,
expected_update_rate: 10,
obstacle_range: 30.0,
raytrace_range: 40.0
max_obstacle_height: 1.0,
expected_update_rate: 1,
obstacle_range: 9.0,
raytrace_range: 10.0
}
inflation_layer:
......
rviz/helena.rviz
+ 45
− 45
View file @ 26c8db6e
......@@ -8,8 +8,8 @@ Panels:
- /Status1
- /Sensors1
- /Sensors1/Odometry1/Shape1
- /Sensors1/RSLidar1/Autocompute Value Bounds1
- /Nav1
- /Nav1/AMCL_localization1
- /Nav1/DWA_local_planner1
- /Nav1/GlobalPlanner1
Splitter Ratio: 0.5
......@@ -32,7 +32,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: FrontLaserScan
SyncSource: Scan
Toolbars:
toolButtonStyle: 2
Visualization Manager:
......@@ -65,10 +65,6 @@ Visualization Manager:
Value: true
helena/base_link:
Value: true
helena/front_hokuyo_base:
Value: true
helena/front_hokuyo_scan_frame:
Value: true
helena/front_left_axle:
Value: true
helena/front_left_hub:
......@@ -83,11 +79,13 @@ Visualization Manager:
Value: true
helena/front_sonar:
Value: true
helena/odom:
helena/helena_box:
Value: true
helena/rear_hokuyo_base:
helena/imu_bno055:
Value: true
helena/rear_hokuyo_scan_frame:
helena/imu_bno055_base:
Value: true
helena/odom:
Value: true
helena/rear_left_axle:
Value: true
......@@ -103,7 +101,9 @@ Visualization Manager:
Value: true
helena/rear_sonar:
Value: true
helena/sensors_base:
helena/robosense:
Value: true
helena/robosense_base:
Value: true
helena/top_plate:
Value: true
......@@ -139,14 +139,14 @@ Visualization Manager:
{}
helena/rear_sonar:
{}
helena/sensors_base:
helena/front_hokuyo_base:
helena/front_hokuyo_scan_frame:
{}
helena/rear_hokuyo_base:
helena/rear_hokuyo_scan_frame:
{}
helena/top_plate:
helena/helena_box:
{}
helena/robosense_base:
helena/robosense:
{}
helena/imu_bno055_base:
helena/imu_bno055:
{}
Update Interval: 0
Value: true
......@@ -169,15 +169,6 @@ Visualization Manager:
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_left_axle:
Alpha: 1
Show Axes: false
......@@ -213,12 +204,17 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
rear_hokuyo_base:
helena_box:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_hokuyo_scan_frame:
imu_bno055:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_bno055_base:
Alpha: 1
Show Axes: false
Show Trail: false
......@@ -257,11 +253,15 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
sensors_base:
robosense:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robosense_base:
Alpha: 1
Show Axes: false
Show Trail: false
top_plate:
Alpha: 1
Show Axes: false
......@@ -318,7 +318,7 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 85; 0
Color: 255; 170; 127
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
......@@ -327,14 +327,14 @@ Visualization Manager:
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 999999
Name: FrontLaserScan
Name: Scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/sensors/front_laser_scan
Topic: /helena/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
......@@ -342,29 +342,29 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Max Value: 4
Min Value: 0
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 170; 127
Color Transformer: FlatColor
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999999
Max Intensity: 255.957504
Min Color: 0; 0; 0
Min Intensity: 999999
Name: RearLaserScan
Min Intensity: 0.372618079
Name: RSLidar
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/sensors/rear_laser_scan
Topic: /helena/sensors/rslidar_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
......@@ -680,7 +680,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 12.624259
Distance: 34.7854996
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
......@@ -695,10 +695,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.4603982
Pitch: 0.785398185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.55539751
Yaw: 0.785398185
Saved: ~
Window Geometry:
Displays:
......
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