Load 3d yaml files. Update rviz

launch/3d_nav_nomap.launch

@@ -8,9 +8,9 @@
 
   <arg name="path"                    default="$(find iri_helena_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
-  <arg name="costmap_common_params"   default="common_params.yaml"/>
-  <arg name="costmap_local_params"    default="local_params.yaml"/>
-  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="costmap_common_params"   default="3d_common_params.yaml"/>
+  <arg name="costmap_local_params"    default="3d_local_params.yaml"/>
+  <arg name="costmap_global_params"   default="3d_global_params.yaml"/>
   <arg name="map_path"                default="$(find iri_maps)/maps"/>
   <!--<arg name="map_name"                default="empty" />-->
   <arg name="initial_x"               default="0.0"/>

rviz/3d_helena.rviz

@@ -11,7 +11,7 @@ Panels:
         - /3d_nav_detection1/lidar1
         - /3d_nav_detection1/camera1
       Splitter Ratio: 0.5486725568771362
-    Tree Height: 664
+    Tree Height: 691
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -548,12 +548,12 @@ Visualization Manager:
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: true
-          Enabled: false
+          Enabled: true
           Name: global_costmap
           Topic: /helena/move_base/global_costmap/costmap
           Unreliable: false
           Use Timestamp: false
-          Value: false
+          Value: true
         - Alpha: 1
           Buffer Length: 1
           Class: rviz/Path
@@ -744,7 +744,7 @@ Visualization Manager:
               Selectable: true
               Size (Pixels): 3
               Size (m): 0.009999999776482582
-              Style: Flat Squares
+              Style: Points
               Topic: /helena/near_hole_detection/hole_zone
               Unreliable: false
               Use Fixed Frame: true
@@ -774,7 +774,7 @@ Visualization Manager:
               Selectable: true
               Size (Pixels): 3
               Size (m): 0.009999999776482582
-              Style: Flat Squares
+              Style: Points
               Topic: /helena/far_hole_detection/hole_zone
               Unreliable: false
               Use Fixed Frame: true
@@ -804,7 +804,7 @@ Visualization Manager:
               Selectable: true
               Size (Pixels): 3
               Size (m): 0.009999999776482582
-              Style: Squares
+              Style: Points
               Topic: /helena/obstacle_detection_normals/all_rg
               Unreliable: false
               Use Fixed Frame: true
@@ -832,7 +832,7 @@ Visualization Manager:
               Position Transformer: XYZ
               Queue Size: 10
               Selectable: true
-              Size (Pixels): 10
+              Size (Pixels): 2
               Size (m): 0.009999999776482582
               Style: Points
               Topic: /helena/obstacle_detection_normals/obstacles
@@ -864,7 +864,7 @@ Visualization Manager:
               Selectable: true
               Size (Pixels): 3
               Size (m): 0.009999999776482582
-              Style: Flat Squares
+              Style: Points
               Topic: /helena/far_hole_detection/hole_obstacle
               Unreliable: false
               Use Fixed Frame: true
@@ -894,7 +894,7 @@ Visualization Manager:
               Selectable: true
               Size (Pixels): 3
               Size (m): 0.009999999776482582
-              Style: Flat Squares
+              Style: Points
               Topic: /helena/near_hole_detection/hole_obstacle
               Unreliable: false
               Use Fixed Frame: true
@@ -932,7 +932,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 12.543999671936035
+      Distance: 10
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -947,18 +947,18 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7853983044624329
+      Pitch: 0.7853981852531433
       Target Frame: helena/base_footprint
       Value: Orbit (rviz)
-      Yaw: 5.213583946228027
+      Yaw: 0.7853981852531433
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1052
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d300000323fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000323000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720000000288000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f00000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000323000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006501000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001d30000033efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000033e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f00720000000288000000d80000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004700fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f00000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000323000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000007efc0100000003fb00000016006c0069006400610072005f0069006d00610067006501000000000000073d0000008400fffffffb0000000800540069006d006500000000000000073f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005640000033e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Teleop:
@@ -971,7 +971,7 @@ Window Geometry:
     collapsed: false
   Width: 1853
   X: 67
-  Y: 27
+  Y: 0
   lidar_image:
     collapsed: false
   realsense_color: