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
index 6adc07655e0ba1d929c667b77714d29bd190eb1e..d4a6191c057f2919e9fe2547f9c7f35f2f4cb3b6 100644
--- a/config/lidar_angle_filter_config.yaml
+++ b/config/lidar_angle_filter_config.yaml
@@ -17,6 +17,6 @@ range3:
range4:
min: -2.2
max: -2.0
-range4:
+range5:
min: 2.0
max: 2.2
diff --git a/config/lidar_obstacle_detector_config.yaml b/config/lidar_obstacle_detector_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..ea3720e89733800115091f0ee10ad7944fc8107a
--- /dev/null
+++ b/config/lidar_obstacle_detector_config.yaml
@@ -0,0 +1,17 @@
+# sensor information
+base_frame_id: "helena/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/include/3d_nav.launch b/launch/include/3d_nav.launch
index 71ec35ac226fb8b9b03e061f8a4b256195e5fb4e..77b1c708fb9e2fc1729605b0159e564e41c31c02 100644
--- a/launch/include/3d_nav.launch
+++ b/launch/include/3d_nav.launch
@@ -16,7 +16,7 @@
<arg name="lidar_filter_config_file" value="$(find iri_helena_rosnav)/config/lidar_angle_filter_config.yaml"/>
<arg name="lidar_filter_cloud_in" value="/helena/sensors/rslidar_points" />
<arg name="lidar_detector_node_name" value="lidar_detector"/>
- <arg name="lidar_detector_config_file" value="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
+ <arg name="lidar_detector_config_file" value="$(find iri_helena_rosnav)/config/lidar_obstacle_detector_config.yaml"/>
</include>
<include file="$(find iri_rosnav)/launch/include/3d_nav_camera.launch">
@@ -28,14 +28,14 @@
<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_helena_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_helena_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_helena_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_helena_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 e0c534f6e826965cd0b6c804d115e1c563dfb801..1a9b4efee9ccef9cd3563365855b87f13dc8c4b2 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
@@ -22,18 +22,31 @@ 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: helena/base_footprint,
- data_type: LaserScan,
- topic: /helena/lidar_detector/scan_out,
+ data_type: PointCloud2,
+ topic: /helena/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: 10.0,
+ raytrace_range: 200.0
+ }
+ lidar_clearing: {
+ sensor_frame: helena/base_footprint,
+ data_type: PointCloud2,
+ topic: /helena/lidar_detector/free_space,
+ observation_persistence: 0.0,
+ marking: false,
clearing: true,
min_obstacle_height: -10.0,
max_obstacle_height: 10.0,
expected_update_rate: 1,
- obstacle_range: 5.0,
+ obstacle_range: 10.0,
raytrace_range: 200.0
}
@@ -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: helena/base_footprint,
- data_type: PointCloud,
+ data_type: PointCloud2,
topic: /helena/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: helena/base_footprint,
+ data_type: PointCloud2,
+ topic: /helena/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 54d160e0e86fd02dd7e4b1c2937ed55a607fd630..8db284a79a20060283f53674936f91876df12f38 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 279a9c254d6fe6198b05afb88a590b2d23127008..b789949b65032edddd9f8d18a32f946350e6f0b7 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 d64f555c8b8aa403903261f7063995d149a98af8..62b18a5f18d62da80d623fe88f616f8d2c48558d 100644
--- a/params/move_base_params.yaml
+++ b/params/move_base_params.yaml
@@ -10,7 +10,7 @@ recovery_behaviors:
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 5.0
-planner_frequency: 0.0
+planner_frequency: 1.0
max_planning_retries: -1
conservative_reset_dist: 3.0
diff --git a/rviz/3d_helena.rviz b/rviz/3d_helena.rviz
index c62b758a8fc4c8f7aa5fef677c9e39596f74d736..fc388da079f01cd7b90cf196f0d6b97cf7a985aa 100644
--- a/rviz/3d_helena.rviz
+++ b/rviz/3d_helena.rviz
@@ -8,10 +8,11 @@ Panels:
- /TF1/Frames1
- /Nav1
- /3d_nav_detection1
- - /3d_nav_detection1/lidar1
+ - /3d_nav_detection1/lidar1/lidar_obstacles1
+ - /3d_nav_detection1/lidar1/lidar_free_space1
- /3d_nav_detection1/camera1
Splitter Ratio: 0.5486725568771362
- Tree Height: 691
+ Tree Height: 664
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -30,7 +31,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: lidar_obstacle
+ SyncSource: obstacle_normals
- Class: rviz_plugin_tutorials/Teleop
Name: Teleop
Topic: ""
@@ -478,7 +479,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: false
- Enabled: false
+ Enabled: true
Name: Sensors
- Class: rviz/Group
Displays:
@@ -647,13 +648,43 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 1.410619621111664e-8
- Min Value: -1.076524824838998e-8
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 204; 0; 0
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: lidar_obstacles
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /helena/lidar_detector/obstacles
+ 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: 255; 0; 0
+ Class: rviz/PointCloud2
+ Color: 115; 210; 22
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
@@ -662,14 +693,14 @@ Visualization Manager:
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
- Name: lidar_obstacle
+ Name: lidar_free_space
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 10
+ Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /helena/lidar_detector/scan_out
+ Topic: /helena/lidar_detector/free_space
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -686,7 +717,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
@@ -703,7 +734,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /helena/lidar_detector/obstacles_img/image_raw
@@ -732,7 +763,7 @@ 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
@@ -749,7 +780,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -762,7 +793,7 @@ 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
@@ -779,7 +810,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -805,7 +836,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /helena/obstacle_detection_normals/all_rg
+ Topic: /helena/obstacle_detection_normals/free_space
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -818,7 +849,7 @@ 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
@@ -832,7 +863,7 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 10
Selectable: true
- Size (Pixels): 2
+ Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /helena/obstacle_detection_normals/obstacles
@@ -852,7 +883,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -869,7 +900,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -882,7 +913,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Enabled: true
+ Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -899,7 +930,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: true
+ Value: false
Enabled: true
Name: camera
Enabled: true
@@ -932,33 +963,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 10
+ Distance: 10.852215766906738
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: 0.9270930290222168
+ Y: 0.05228966474533081
+ Z: 0.17851565778255463
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.7853981852531433
+ Pitch: 0.7197973132133484
Target Frame: helena/base_footprint
Value: Orbit (rviz)
- Yaw: 0.7853981852531433
+ Yaw: 3.5035836696624756
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 1052
+ Height: 1025
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001d30000033efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000033e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720000000288000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f00000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000323000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006501000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000033e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000001d300000323fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000323000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720000000288000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f00000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000323000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006501000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Teleop:
@@ -971,7 +1002,7 @@ Window Geometry:
collapsed: false
Width: 1853
X: 67
- Y: 0
+ Y: 27
lidar_image:
collapsed: false
realsense_color: