diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 4356198dddd808a931943880092c7c69bc9623e6..27950f0ed32d5196cbfbf86653c823e91a572dfd 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -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:
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index f1b337e7595500fdd233b143581bd40ab251cc21..0ff34cdcb5f1d314b0a2976498f8677b826f468b 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -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: