diff --git a/launch/3d_nav_map.launch b/launch/3d_nav_map.launch
new file mode 100644
index 0000000000000000000000000000000000000000..73af9f844ad0eb60865741cfbbe45a22500a3463
--- /dev/null
+++ b/launch/3d_nav_map.launch
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="helena"/>
+
+ <arg name="use_3d_nav_nodelets" default="true"/>
+
+ <arg name="path" default="$(find iri_helena_rosnav)/params"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_path" default="$(find iri_maps)/maps"/>
+ <arg name="map_name" default="empty" />
+ <arg name="initial_x" default="0.0"/>
+ <arg name="initial_y" default="0.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="use_move_base" default="true"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/3d_helena.rviz"/>
+
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+
+ <include file="$(find iri_helena_rosnav)/launch/include/3d_nav.launch">
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
+ </include>
+
+ <include file="$(find iri_helena_rosnav)/launch/nav_map.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ <arg name="rviz_file" value="$(arg rviz_file)"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="initial_x" value="$(arg initial_x)"/>
+ <arg name="initial_y" value="$(arg initial_y)"/>
+ <arg name="initial_yaw" value="$(arg initial_yaw)"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ </include>
+
+</launch>
diff --git a/launch/3d_nav_nomap.launch b/launch/3d_nav_nomap.launch
new file mode 100644
index 0000000000000000000000000000000000000000..2d5f74078bf8a9ee9958de933528bb87f36366be
--- /dev/null
+++ b/launch/3d_nav_nomap.launch
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="helena"/>
+
+ <arg name="use_3d_nav_nodelets" default="true"/>
+
+ <arg name="path" default="$(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="map_path" default="$(find iri_maps)/maps"/>
+ <!--<arg name="map_name" default="empty" />-->
+ <arg name="initial_x" default="0.0"/>
+ <arg name="initial_y" default="0.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="use_move_base" default="true"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/3d_helena.rviz"/>
+
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+
+ <include file="$(find iri_helena_rosnav)/launch/include/3d_nav.launch">
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
+ </include>
+
+ <include file="$(find iri_helena_rosnav)/launch/nav_nomap.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ <arg name="rviz_file" value="$(arg rviz_file)"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="initial_x" value="$(arg initial_x)"/>
+ <arg name="initial_y" value="$(arg initial_y)"/>
+ <arg name="initial_yaw" value="$(arg initial_yaw)"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ </include>
+
+</launch>
diff --git a/launch/include/3d_nav.launch b/launch/include/3d_nav.launch
new file mode 100644
index 0000000000000000000000000000000000000000..98ac77c85a05bf7af7a034f7ed1fd1189a284047
--- /dev/null
+++ b/launch/include/3d_nav.launch
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="use_nodelets" default="true"/>
+
+ <include file="$(find iri_rosnav)/launch/include/3d_nav_lidar.launch">
+ <arg name="ns" value="helena"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="use_nodelets" value="$(arg use_nodelets)"/>
+ <arg name="lidar_nodelet_manager" value="lidar_nodelet_manager"/>
+ <arg name="lidar_filter_node_name" value="lidar_filter"/>
+ <arg name="lidar_filter_config_file" value="$(find iri_point_cloud_angle_filter)/config/default_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="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
+ </include>
+
+ <include file="$(find iri_rosnav)/launch/include/3d_nav_camera.launch">
+ <arg name="ns" value="helena"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="use_nodelets" value="$(arg use_nodelets)"/>
+ <arg name="obstacle_nodelet_manager" value="obstacle_nodelet_manager" />
+ <arg name="hole_nodelet_manager" value="hole_nodelet_manager" />
+ <arg name="camera_cloud_in" value="sensors/nav_cam/depth_registered/points"/>
+ <arg name="average_node_name" value="average_point_cloud"/>
+ <arg name="average_config_file" value="$(find iri_average_point_cloud)/config/default_config.yaml"/>
+ <arg name="normals_node_name" value="obstacle_detection_normals"/>
+ <arg name="normals_config_file" value="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+ <arg name="near_hole_detection_node_name" value="near_hole_detection"/>
+ <arg name="near_hole_detection_config_file" value="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
+ <arg name="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="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
+ </include>
+
+</launch>
+
diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 5353c3d71d87eeb23a78d115b41770c9b90e4b7a..bfb2662113a55f89bcecafa0e060348f22842fd5 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -1,88 +1,76 @@
<?xml version="1.0"?>
<!-- -->
<launch>
-
- <arg name="rviz" default="true"/>
- <arg name="ns" default="helena"/>
- <arg name="pkg" default="iri_helena_rosnav"/>
- <arg name="path" default="$(eval find(arg('pkg')))"/>
- <arg name="param_subpath" default="params"/>
- <arg name="map_frame_id" default="map"/>
- <arg name="odom_frame_id" default="$(arg ns)/odom"/>
- <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
- <arg name="map_topic" default="/$(arg ns)/map"/>
- <arg name="map_service" default="/$(arg ns)/static_map"/>
- <arg name="odom_topic" default="/$(arg ns)/odom"/>
- <arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
- <arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
- <arg name="use_map" default="true"/>
- <arg name="use_map_server" default="true"/>
- <arg name="map_name" />
- <arg name="use_amcl" default="true"/>
- <arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
- <arg name="initial_x" default="0.0"/>
- <arg name="initial_y" default="0.0"/>
- <arg name="initial_yaw" default="0.0"/>
- <arg name="use_fake_loc" default="false"/>
- <arg name="use_gmapping" default="false"/>
- <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
- <arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
- <arg name="resolution" default="0.1"/>
- <arg name="use_cmd_vel_mux" default="true"/>
- <arg name="nodelet_manager_name" default="nodelet_manager"/>
- <arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
- <arg name="local_planner" default="dwa"/>
- <arg name="global_planner" default="global_planner"/>
- <arg name="output" default="screen" />
- <arg name="launch_prefix" default="" />
+ <arg name="name" default="helena"/>
+ <arg name="path" default="$(find iri_helena_rosnav)/params"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_path" default="$(find iri_maps)/maps"/>
+ <arg name="map_name" default="empty" />
+ <arg name="initial_x" default="0.0"/>
+ <arg name="initial_y" default="0.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="use_move_base" default="true"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/helena.rviz"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="path" value="$(arg path)"/>
- <arg name="param_subpath" value="$(arg param_subpath)"/>
- <arg name="map_frame_id" value="$(arg map_frame_id)"/>
- <arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
- <arg name="base_frame_id" value="$(arg base_frame_id)"/>
- <arg name="map_topic" value="$(arg map_topic)"/>
- <arg name="map_service" value="$(arg map_service)"/>
- <arg name="odom_topic" value="$(arg odom_topic)"/>
- <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
- <arg name="scan_topic" value="$(arg scan_topic)"/>
- <arg name="use_map" value="$(arg use_map)"/>
- <arg name="use_map_server" value="$(arg use_map_server)"/>
- <arg name="map_name" value="$(arg map_name)"/>
- <arg name="use_amcl" value="$(arg use_amcl)"/>
- <arg name="amcl_config" value="$(arg amcl_config)"/>
- <arg name="initial_x" value="$(arg initial_x)"/>
- <arg name="initial_y" value="$(arg initial_y)"/>
- <arg name="initial_yaw" value="$(arg initial_yaw)"/>
- <arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
- <arg name="use_gmapping" value="$(arg use_gmapping)"/>
- <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
- <arg name="gmapping_config" value="$(arg gmapping_config)"/>
- <arg name="resolution" value="$(arg resolution)"/>
- <arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
- <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
- <arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
- <arg name="local_planner" value="$(arg local_planner)"/>
- <arg name="global_planner" value="$(arg global_planner)"/>
- <arg name="output" value="$(arg output)" />
- <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="path" value="$(arg path)"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="odom_frame_id" value="$(arg name)/odom"/>
+ <arg name="base_frame_id" value="$(arg name)/base_footprint"/>
+ <arg name="map_topic" value="/$(arg name)/map"/>
+ <arg name="map_service" value="/$(arg name)/static_map"/>
+ <arg name="odom_topic" value="/$(arg name)/odom"/>
+ <arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/>
+ <arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
+ <arg name="use_map" value="true"/>
+ <arg name="use_map_server" value="true"/>
+ <arg name="map_path" value="$(arg map_path)"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="use_amcl" value="true"/>
+ <arg name="amcl_config" value="$(find iri_helena_rosnav)/params/amcl.yaml"/>
+ <arg name="initial_x" value="$(arg initial_x)"/>
+ <arg name="initial_y" value="$(arg initial_y)"/>
+ <arg name="initial_yaw" value="$(arg initial_yaw)"/>
+ <arg name="use_fake_loc" value="false"/>
+ <arg name="use_gmapping" value="false"/>
+ <arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/>
+ <arg name="gmapping_config" value="$(arg path)/gmapping.yaml"/>
+ <arg name="resolution" value="0.1"/>
+ <arg name="use_move_base" value="$(arg use_move_base)"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="scan_topic" value="$(arg scan_topic)"/>
- <arg name="cloud_topic" value="/$(arg ns)/sensors/rslidar_points"/>
+ <arg name="ns" value="helena"/>
+ <arg name="node_name" value="pcl_to_laserscan"/>
+ <arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
+ <arg name="cloud_topic" value="/$(arg name)/sensors/rslidar_points"/>
+ <arg name="config_file" value="$(find iri_helena_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
-
+
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
- args="-d $(arg path)/rviz/$(arg ns).rviz">
+ args="-d $(arg rviz_file)">
</node>
</launch>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index 5857d9b388a782eb1d3487f6120770a1c3e614a5..e855b6a2fef55235a4415a87a7656c604b6997d3 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -5,8 +5,7 @@
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="pkg" default="iri_helena_rosnav"/>
- <arg name="path" default="$(eval find(arg('pkg')))"/>
- <arg name="param_subpath" default="params"/>
+ <arg name="path" default="$(eval find(arg('pkg')))_lolo"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index cc75c1efdb2f13542ef89474895bbb81a89904a8..ff3b991036becc5ddf12dfd9c06d984510c9d205 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -1,88 +1,76 @@
<?xml version="1.0"?>
<!-- -->
<launch>
-
- <arg name="rviz" default="true"/>
- <arg name="ns" default="helena"/>
- <arg name="pkg" default="iri_helena_rosnav"/>
- <arg name="path" default="$(eval find(arg('pkg')))"/>
- <arg name="param_subpath" default="params"/>
- <arg name="map_frame_id" default="map"/>
- <arg name="odom_frame_id" default="$(arg ns)/odom"/>
- <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
- <arg name="map_topic" default="/$(arg ns)/map"/>
- <arg name="map_service" default="/$(arg ns)/static_map"/>
- <arg name="odom_topic" default="/$(arg ns)/odom"/>
- <arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
- <arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
- <arg name="use_map" default="false"/>
- <arg name="use_map_server" default="false"/>
- <arg name="map_name" default="empty"/>
- <arg name="use_amcl" default="false"/>
- <arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
- <arg name="initial_x" default="0.0"/>
- <arg name="initial_y" default="0.0"/>
- <arg name="initial_yaw" default="0.0"/>
- <arg name="use_fake_loc" default="false"/>
- <arg name="use_gmapping" default="false"/>
- <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
- <arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
- <arg name="resolution" default="0.1"/>
- <arg name="use_cmd_vel_mux" default="true"/>
- <arg name="nodelet_manager_name" default="nodelet_manager"/>
- <arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
- <arg name="local_planner" default="dwa"/>
- <arg name="global_planner" default="global_planner"/>
- <arg name="output" default="screen" />
- <arg name="launch_prefix" default="" />
+ <arg name="name" default="helena"/>
+ <arg name="path" default="$(find iri_helena_rosnav)/params"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_path" default="$(find iri_maps)/maps"/>
+ <arg name="map_name" default="empty" />
+ <arg name="initial_x" default="0.0"/>
+ <arg name="initial_y" default="0.0"/>
+ <arg name="initial_yaw" default="0.0"/>
+ <arg name="use_move_base" default="true"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_helena_rosnav)/rviz/helena.rviz"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="path" value="$(arg path)"/>
- <arg name="param_subpath" value="$(arg param_subpath)"/>
- <arg name="map_frame_id" value="$(arg map_frame_id)"/>
- <arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
- <arg name="base_frame_id" value="$(arg base_frame_id)"/>
- <arg name="map_topic" value="$(arg map_topic)"/>
- <arg name="map_service" value="$(arg map_service)"/>
- <arg name="odom_topic" value="$(arg odom_topic)"/>
- <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
- <arg name="scan_topic" value="$(arg scan_topic)"/>
- <arg name="use_map" value="$(arg use_map)"/>
- <arg name="use_map_server" value="$(arg use_map_server)"/>
- <arg name="map_name" value="$(arg map_name)"/>
- <arg name="use_amcl" value="$(arg use_amcl)"/>
- <arg name="amcl_config" value="$(arg amcl_config)"/>
- <arg name="initial_x" value="$(arg initial_x)"/>
- <arg name="initial_y" value="$(arg initial_y)"/>
- <arg name="initial_yaw" value="$(arg initial_yaw)"/>
- <arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
- <arg name="use_gmapping" value="$(arg use_gmapping)"/>
- <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
- <arg name="gmapping_config" value="$(arg gmapping_config)"/>
- <arg name="resolution" value="$(arg resolution)"/>
- <arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
- <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
- <arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
- <arg name="local_planner" value="$(arg local_planner)"/>
- <arg name="global_planner" value="$(arg global_planner)"/>
- <arg name="output" value="$(arg output)" />
- <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="path" value="$(arg path)"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="odom_frame_id" value="$(arg name)/odom"/>
+ <arg name="base_frame_id" value="$(arg name)/base_footprint"/>
+ <arg name="map_topic" value="/$(arg name)/map"/>
+ <arg name="map_service" value="/$(arg name)/static_map"/>
+ <arg name="odom_topic" value="/$(arg name)/odom"/>
+ <arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/>
+ <arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
+ <arg name="use_map" value="false"/>
+ <arg name="use_map_server" value="true"/>
+ <arg name="map_path" value="$(arg map_path)"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="use_amcl" value="true"/>
+ <arg name="amcl_config" value="$(find iri_helena_rosnav)/params/amcl.yaml"/>
+ <arg name="initial_x" value="$(arg initial_x)"/>
+ <arg name="initial_y" value="$(arg initial_y)"/>
+ <arg name="initial_yaw" value="$(arg initial_yaw)"/>
+ <arg name="use_fake_loc" value="false"/>
+ <arg name="use_gmapping" value="false"/>
+ <arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/>
+ <arg name="gmapping_config" value="$(arg path)/gmapping.yaml"/>
+ <arg name="resolution" value="0.1"/>
+ <arg name="use_move_base" value="$(arg use_move_base)"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
-
+
<include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="scan_topic" value="$(arg scan_topic)"/>
- <arg name="cloud_topic" value="/$(arg ns)/sensors/rslidar_points"/>
+ <arg name="ns" value="helena"/>
+ <arg name="node_name" value="pcl_to_laserscan"/>
+ <arg name="scan_topic" value="/$(arg name)/sensors/scan"/>
+ <arg name="cloud_topic" value="/$(arg name)/sensors/rslidar_points"/>
+ <arg name="config_file" value="$(find iri_helena_rosnav)/params/pointcloud_to_laserscan.yaml" />
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
-
+
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
- args="-d $(arg path)/rviz/$(arg ns).rviz">
+ args="-d $(arg rviz_file)">
</node>
</launch>
diff --git a/params/costmap/3d_common_params.yaml b/params/costmap/3d_common_params.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..e0c534f6e826965cd0b6c804d115e1c563dfb801
--- /dev/null
+++ b/params/costmap/3d_common_params.yaml
@@ -0,0 +1,142 @@
+# footprint parameters
+footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3,-0.3 ], [-0.3, 0.3]]
+#robot_radius: 0.3
+footprint_padding: 0.01
+footprint_topic: /helena/footprint
+published_footprint_topic: false
+
+robot_base_frame: helena/base_footprint
+track_unknown_space: false
+always_send_full_costmap: false
+transform_tolerance: 1.0
+width: 10.0
+height: 10.0
+resolution: 0.1
+origin_x: 0.0
+origin_y: 0.0
+
+obstacle_layer_lidar:
+ enabled: true
+ track_unknown_space: true
+ transform_tolerance: 0.2
+ max_obstacle_height: 10.0
+ footprint_clearing_enabled: false
+ combination_method: 1
+ observation_sources: lidar_marking
+ lidar_marking: {
+ sensor_frame: helena/base_footprint,
+ data_type: LaserScan,
+ topic: /helena/lidar_detector/scan_out,
+ observation_persistence: 0.0,
+ marking: true,
+ clearing: true,
+ min_obstacle_height: -10.0,
+ max_obstacle_height: 10.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 200.0
+ }
+
+obstacle_layer_camera:
+ enabled: true
+ track_unknown_space: true
+ transform_tolerance: 0.2
+ max_obstacle_height: 100.0 #1.0
+ footprint_clearing_enabled: false
+ combination_method: 1
+ observation_sources: camera_marking
+
+ camera_marking: {
+ sensor_frame: helena/base_footprint,
+ data_type: PointCloud,
+ topic: /helena/obstacle_detection_normals/obstacles,
+ observation_persistence: 0.0,
+ marking: true,
+ clearing: true,
+ min_obstacle_height: -100.0,
+ max_obstacle_height: 100.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 10.0
+ }
+
+hole_layer_near_camera:
+ enabled: true
+ track_unknown_space: true
+ transform_tolerance: 0.2
+ max_obstacle_height: 100.0 #1.0
+ footprint_clearing_enabled: false
+ combination_method: 1
+ observation_sources: hole_near_marking hole_near_clearing
+
+ hole_near_marking: {
+ sensor_frame: helena/base_footprint,
+ data_type: PointCloud2,
+ topic: /helena/near_hole_detection/hole_obstacle,
+ observation_persistence: 0.0,
+ marking: true,
+ clearing: false,
+ min_obstacle_height: -100.0,
+ max_obstacle_height: 100.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 10.0
+ }
+
+ hole_near_clearing: {
+ sensor_frame: helena/base_footprint,
+ data_type: PointCloud2,
+ topic: /helena/near_hole_detection/hole_zone,
+ observation_persistence: 0.0,
+ marking: false,
+ clearing: true,
+ min_obstacle_height: -100.0,
+ max_obstacle_height: 100.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 10.0
+ }
+
+hole_layer_far_camera:
+ enabled: true
+ track_unknown_space: true
+ transform_tolerance: 0.2
+ max_obstacle_height: 100.0 #1.0
+ footprint_clearing_enabled: false
+ combination_method: 1
+ observation_sources: hole_far_marking hole_far_clearing
+
+ hole_far_marking: {
+ sensor_frame: helena/base_footprint,
+ data_type: PointCloud2,
+ topic: /helena/far_hole_detection/hole_obstacle,
+ observation_persistence: 0.0,
+ marking: true,
+ clearing: false,
+ min_obstacle_height: -100.0,
+ max_obstacle_height: 100.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 10.0
+ }
+
+ hole_far_clearing: {
+ sensor_frame: helena/base_footprint,
+ data_type: PointCloud2,
+ topic: /helena/far_hole_detection/hole_zone,
+ observation_persistence: 0.0,
+ marking: false,
+ clearing: true,
+ min_obstacle_height: -100.0,
+ max_obstacle_height: 100.0,
+ expected_update_rate: 1,
+ obstacle_range: 5.0,
+ raytrace_range: 10.0
+ }
+
+inflation_layer:
+ enabled: true
+ inflate_unknown: false
+ inflation_radius: 2.0
+ cost_scaling_factor: 1.8
+ inflation_radius: 1.0
diff --git a/params/costmap/3d_local_params.yaml b/params/costmap/3d_local_params.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..54d160e0e86fd02dd7e4b1c2937ed55a607fd630
--- /dev/null
+++ b/params/costmap/3d_local_params.yaml
@@ -0,0 +1,20 @@
+#local_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: helena/odom
+update_frequency: 5.0
+publish_frequency: 2.0
+rolling_window: true
+width: 10.0
+height: 10.0
+resolution: 0.1
+#origin_x: 0.0
+#origin_y: 0.0
+
+#costmap plugins
+plugins:
+ - {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
+ - {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+
+
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 69db1eb705d94017802732bf286f940a240acf5a..d3ab3718f15a4999c0b8b062f57bb873908721cb 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -5,7 +5,7 @@ footprint_padding: 0.01
footprint_topic: /helena/move_base/local_costmap/footprint
published_footprint_topic: false
-robot_base_frame: /helena/base_footprint
+robot_base_frame: helena/base_footprint
track_unknown_space: false
always_send_full_costmap: false
transform_tolerance: 1.0
@@ -25,7 +25,7 @@ obstacle_layer:
observation_sources: velodyne #depth_cam
velodyne: {
- sensor_frame: /helena/robosense,
+ sensor_frame: helena/robosense,
data_type: PointCloud2,
topic: /helena/sensors/rslidar_points,
observation_persistence: 0.0,
@@ -39,7 +39,7 @@ obstacle_layer:
}
depth_cam: {
- sensor_frame: /helena/camera_color_optical_frame,
+ sensor_frame: helena/camera_color_optical_frame,
data_type: PointCloud2,
topic: /helena/sensors/nav_cam/depth_registered/points,
observation_persistence: 0.0,
diff --git a/params/costmap/local_params.yaml b/params/costmap/local_params.yaml
index a6f1022fde2c6bf2bd0d4adcda40e34331bc453c..330c2f87e7caa206a8d778cc0559ffb7510d7d04 100644
--- a/params/costmap/local_params.yaml
+++ b/params/costmap/local_params.yaml
@@ -1,5 +1,5 @@
#local_costmap: ###namespace added when loading parameters in move_base.launch
-global_frame: /helena/odom
+global_frame: helena/odom
update_frequency: 5.0
publish_frequency: 2.0
rolling_window: true
@@ -12,4 +12,4 @@ origin_y: 0.0
#costmap plugins
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
diff --git a/params/costmap/map/3d_global_params.yaml b/params/costmap/map/3d_global_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..09fc474b71a4643b2f55a495eaafb61aac8b4b61
--- /dev/null
+++ b/params/costmap/map/3d_global_params.yaml
@@ -0,0 +1,24 @@
+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: map
+update_frequency: 1.0
+publish_frequency: 1.0
+rolling_window: false
+
+plugins:
+ - {name: static_layer, type: "costmap_2d::StaticLayer"}
+ - {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
+ - {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_near_camera,type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+
+static_layer:
+ enabled: true
+ map_topic: /map
+ first_map_only: false
+ subscribe_to_updates: false
+ unknown_cost_value: -1
+ use_maximum: false
+ lethal_cost_threshold: 100
+ track_unknown_space: true
+ trinary_costmap: true
diff --git a/params/costmap/map/global_params.yaml b/params/costmap/map/global_params.yaml
index aef60d4da3e1ae19918181efd4328115bd1283bf..1df7af232c4f0ddfcda8bea87bf25bb9417a2885 100644
--- a/params/costmap/map/global_params.yaml
+++ b/params/costmap/map/global_params.yaml
@@ -1,5 +1,5 @@
#global_costmap: ###namespace added when loading parameters in move_base.launch
-global_frame: /map
+global_frame: map
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: false
@@ -18,4 +18,4 @@ static_layer:
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
- trinary_costmap: true
\ No newline at end of file
+ trinary_costmap: true
diff --git a/params/costmap/no_map/3d_global_params.yaml b/params/costmap/no_map/3d_global_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..279a9c254d6fe6198b05afb88a590b2d23127008
--- /dev/null
+++ b/params/costmap/no_map/3d_global_params.yaml
@@ -0,0 +1,18 @@
+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: helena/odom
+update_frequency: 1.0
+publish_frequency: 0.0
+rolling_window: true
+transform_tolerance: 1.0
+width: 20.0
+height: 20.0
+resolution: 0.2
+origin_x: 0.0
+origin_y: 0.0
+
+plugins:
+ - {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
+ - {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
diff --git a/params/costmap/no_map/global_params.yaml b/params/costmap/no_map/global_params.yaml
index f85664cbbfe472799aac674fa78325e6d96a59e0..389e95e90cdfb2685e93e416dfd8fe0fe324a810 100644
--- a/params/costmap/no_map/global_params.yaml
+++ b/params/costmap/no_map/global_params.yaml
@@ -1,5 +1,5 @@
#global_costmap: ###namespace added when loading parameters in move_base.launch
-global_frame: /helena/odom
+global_frame: helena/odom
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: true
@@ -12,4 +12,4 @@ origin_y: 0.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index d6e7bb71e11320c65a66559b2745d42e90a27c49..482726a1d9813d7e2f3441bb1dc53dde4295c89d 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -1,40 +1,40 @@
base_local_planner: "dwa_local_planner/DWAPlannerROS"
-latch_xy_goal_tolerance: true
+latch_xy_goal_tolerance: true
DWAPlannerROS:
# robot configuration parameters
- max_trans_vel: 0.5
- min_trans_vel: 0.1
+ max_vel_trans: 0.5
+ min_vel_trans: 0.1
max_vel_x: 0.5
- min_vel_x: -0.2
- max_vel_y: 0.0
- min_vel_y: 0.0
- max_rot_vel: 2.0
- min_rot_vel: 0.2
+ min_vel_x: 0.0
+ max_vel_y: 0.0
+ min_vel_y: 0.0
+ max_vel_theta: 2.0
+ min_vel_theta: 0.1
acc_lim_theta: 5.0
acc_lim_x: 1.0
- acc_lim_y: 0.0
- acc_limit_trans: 1.0
- rot_stopped_vel: 0.1
+ acc_lim_y: 0.0
+ acc_lim_trans: 1.0
+ theta_stopped_vel: 0.1
trans_stopped_vel: 0.1
# goal tolerance parameters
- xy_goal_tolerance: 0.1
- yaw_goal_tolerance: 0.1
+ xy_goal_tolerance: 0.1
+ yaw_goal_tolerance: 0.1
# Forward simulation parameters
- sim_time: 2.5
+ sim_time: 3.5
sim_granularity: 0.1
angular_sim_granularity: 0.1
vx_samples: 21
- vy_samples: 1
+ vy_samples: 1
vth_samples: 20
controller_frequency: 20.0 # defines the sim_period
# Trajectory scoring parameters
- path_distance_bias: 32.0
- goal_distance_bias: 24.0
- occdist_scale: 0.02 #0.01
+ path_distance_bias: 50.0
+ goal_distance_bias: 10.0
+ occdist_scale: 0.05
twirling_scale: 0.0
stop_time_buffer: 0.2
forward_point_distance: 0.325
@@ -44,11 +44,11 @@ DWAPlannerROS:
# Oscillation prevention parameters
oscillation_reset_dist: 0.05
oscillation_reset_angle: 0.2
-
+
# global plan parameters
prune_plan: true
#not in dynamic reconfigure
publish_traj_pc: false
- global_frame_id: /helena/odom
+ #global_frame_id: /robot/base_footprint
publish_cost_grid_pc: false
diff --git a/params/pointcloud_to_laserscan.yaml b/params/pointcloud_to_laserscan.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..120eb90529316fad34fa03874c46fad29c8e51e7
--- /dev/null
+++ b/params/pointcloud_to_laserscan.yaml
@@ -0,0 +1,18 @@
+target_frame: ""
+# Leave target_frame disabled to output scan in pointcloud frame
+transform_tolerance: 0.1
+min_height: -0.1
+max_height: 0.5
+angle_min: -3.14159 #-1.5708 # -M_PI/2
+angle_max: 3.14159 #1.5708 # M_PI/2
+angle_increment: 0.0087 # M_PI/360.0
+scan_time: 0.3333
+range_min: 0.1
+range_max: 40.0
+use_inf: true
+
+# Concurrency level, affects number of pointclouds queued for processing and number of threads used
+# 0 : Detect number of cores
+# 1 : Single threaded
+# 2->inf : Parallelism level
+concurrency_level: 1
diff --git a/rviz/3d_helena.rviz b/rviz/3d_helena.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..f1ca519729f7bdb4b54eb03e78be8a867c5b130a
--- /dev/null
+++ b/rviz/3d_helena.rviz
@@ -0,0 +1,1068 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ - /Nav1
+ - /3d_nav_detection1
+ - /3d_nav_detection1/lidar1
+ - /3d_nav_detection1/camera1
+ Splitter Ratio: 0.548672557
+ Tree Height: 693
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ 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: lidar_obstacle
+ - Class: rviz_plugin_tutorials/Teleop
+ Name: Teleop
+ Topic: ""
+Toolbars:
+ toolButtonStyle: 2
+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: 1000
+ Reference Frame: <Fixed Frame>
+ 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
+ helena_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ helena_realsense_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_pan_tilt_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_color_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_color_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_sonar:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_bno055:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_bno055_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ realsense_support_pan_tilt:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_left_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_axle:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_hub:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_sonar:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tilt_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_plate:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_base:
+ 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/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ helena/helena_box:
+ Value: true
+ helena/helena_realsense_support:
+ Value: true
+ helena/base_footprint:
+ Value: true
+ helena/base_link:
+ Value: true
+ helena/camera_bottom_screw_frame:
+ Value: true
+ helena/camera_color_frame:
+ Value: true
+ helena/camera_color_optical_frame:
+ Value: true
+ helena/camera_depth_frame:
+ Value: true
+ helena/camera_depth_optical_frame:
+ Value: true
+ helena/camera_infra1_frame:
+ Value: true
+ helena/camera_infra1_optical_frame:
+ Value: true
+ helena/camera_infra2_frame:
+ Value: true
+ helena/camera_infra2_optical_frame:
+ Value: true
+ helena/camera_link:
+ Value: true
+ helena/camera_pan_tilt_bottom_screw_frame:
+ Value: true
+ helena/camera_pan_tilt_color_frame:
+ Value: true
+ helena/camera_pan_tilt_color_optical_frame:
+ Value: true
+ helena/camera_pan_tilt_depth_frame:
+ Value: true
+ helena/camera_pan_tilt_depth_optical_frame:
+ Value: true
+ helena/camera_pan_tilt_infra1_frame:
+ Value: true
+ helena/camera_pan_tilt_infra1_optical_frame:
+ Value: true
+ helena/camera_pan_tilt_infra2_frame:
+ Value: true
+ helena/camera_pan_tilt_infra2_optical_frame:
+ Value: true
+ helena/camera_pan_tilt_link:
+ Value: true
+ helena/front_left_axle:
+ Value: true
+ helena/front_left_hub:
+ Value: true
+ helena/front_left_wheel:
+ Value: true
+ helena/front_right_axle:
+ Value: true
+ helena/front_right_hub:
+ Value: true
+ helena/front_right_wheel:
+ Value: true
+ helena/front_sonar:
+ Value: true
+ helena/imu_bno055:
+ Value: true
+ helena/imu_bno055_base:
+ Value: true
+ helena/odom:
+ Value: true
+ helena/pan_frame:
+ Value: true
+ helena/realsense_support_pan_tilt:
+ Value: true
+ helena/rear_left_axle:
+ Value: true
+ helena/rear_left_hub:
+ Value: true
+ helena/rear_left_wheel:
+ Value: true
+ helena/rear_right_axle:
+ Value: true
+ helena/rear_right_hub:
+ Value: true
+ helena/rear_right_wheel:
+ Value: true
+ helena/rear_sonar:
+ Value: true
+ helena/tilt_frame:
+ Value: true
+ helena/top_plate:
+ Value: true
+ helena/velodyne:
+ Value: true
+ helena/velodyne_base:
+ Value: true
+ map:
+ Value: true
+ world:
+ Value: true
+ Marker Scale: 0.100000001
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ helena/odom:
+ helena/base_footprint:
+ helena/base_link:
+ helena/front_left_axle:
+ helena/front_left_hub:
+ helena/front_left_wheel:
+ {}
+ helena/front_right_axle:
+ helena/front_right_hub:
+ helena/front_right_wheel:
+ {}
+ helena/front_sonar:
+ {}
+ helena/rear_left_axle:
+ helena/rear_left_hub:
+ helena/rear_left_wheel:
+ {}
+ helena/rear_right_axle:
+ helena/rear_right_hub:
+ helena/rear_right_wheel:
+ {}
+ helena/rear_sonar:
+ {}
+ helena/top_plate:
+ helena/helena_box:
+ helena/pan_frame:
+ helena/tilt_frame:
+ helena/realsense_support_pan_tilt:
+ helena/camera_pan_tilt_bottom_screw_frame:
+ helena/camera_pan_tilt_link:
+ helena/camera_pan_tilt_color_frame:
+ helena/camera_pan_tilt_color_optical_frame:
+ {}
+ helena/camera_pan_tilt_depth_frame:
+ helena/camera_pan_tilt_depth_optical_frame:
+ {}
+ helena/camera_pan_tilt_infra1_frame:
+ helena/camera_pan_tilt_infra1_optical_frame:
+ {}
+ helena/camera_pan_tilt_infra2_frame:
+ helena/camera_pan_tilt_infra2_optical_frame:
+ {}
+ helena/helena_realsense_support:
+ helena/camera_bottom_screw_frame:
+ helena/camera_link:
+ helena/camera_color_frame:
+ helena/camera_color_optical_frame:
+ {}
+ helena/camera_depth_frame:
+ helena/camera_depth_optical_frame:
+ {}
+ helena/camera_infra1_frame:
+ helena/camera_infra1_optical_frame:
+ {}
+ helena/camera_infra2_frame:
+ helena/camera_infra2_optical_frame:
+ {}
+ helena/velodyne_base:
+ helena/velodyne:
+ {}
+ helena/imu_bno055_base:
+ helena/imu_bno055:
+ {}
+ world:
+ {}
+ Update Interval: 0
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.75
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: false
+ History Length: 1
+ Name: Imu
+ Topic: /helena/sensors/imu
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /helena/sensors/nav_cam/color/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: realsense_color
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ 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: realsense_pointcloud
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/sensors/nav_cam/depth_registered/points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 16.4100227
+ Min Value: -0.00643271208
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ 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: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Velodyne
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/sensors/velodyne_points
+ 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
+ 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: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/sensors/scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: false
+ 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
+ - Angle Tolerance: 0.5
+ 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: 1000
+ Name: Odom
+ Position Tolerance: 1
+ Shape:
+ Alpha: 0.75
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Color: 255; 25; 0
+ Head Length: 0.300000012
+ Head Radius: 0.100000001
+ Shaft Length: 1
+ Shaft Radius: 0.0500000007
+ Value: Arrow
+ Topic: /helena/odom
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 25; 255; 0
+ Enabled: true
+ Name: footprint
+ Topic: /helena/move_base/global_costmap/footprint
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: true
+ Name: local_costmap
+ Topic: /helena/move_base/local_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 0.699999988
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: true
+ Enabled: false
+ Name: global_costmap
+ Topic: /helena/move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 85; 255; 0
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: GlobalPlanner_global_plan
+ 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: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 0; 0; 255
+ Enabled: true
+ Head Diameter: 0.300000012
+ Head Length: 0.200000003
+ Length: 0.300000012
+ Line Style: Lines
+ Line Width: 0.0299999993
+ Name: DWA_global_plan
+ 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
+ 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: DWA_local_plan
+ 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
+ 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: CurrentGoal
+ Shaft Length: 1
+ Shaft Radius: 0.0500000007
+ Shape: Arrow
+ Topic: /helena/move_base/current_goal
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Nav
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 1.41061962e-08
+ Min Value: -1.07652482e-08
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 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_obstacle
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/lidar_detector/scan_out
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 0.997381926
+ Min Value: -0.279256642
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: lidar_zone
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 2
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/lidar_filter/cloud_out
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Class: rviz/Image
+ Enabled: false
+ Image Topic: /helena/lidar_detector/obstacles_img/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: lidar_image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: false
+ Enabled: true
+ Name: lidar
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ 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: near_hole_vision
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Flat Squares
+ Topic: /helena/near_hole_detection/hole_zone
+ 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/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ 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: far_hole_vision
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Flat Squares
+ Topic: /helena/far_hole_detection/hole_zone
+ 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/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: obstacle_vision
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Squares
+ Topic: /helena/obstacle_detection_normals/all_rg
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: obstacle_normals
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /helena/obstacle_detection_normals/obstacles
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: far_hole_obstacle
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Flat Squares
+ Topic: /helena/far_hole_detection/hole_obstacle
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: near_hole_obstacle
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Flat Squares
+ Topic: /helena/near_hole_detection/hole_obstacle
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ Enabled: true
+ Name: camera
+ Enabled: true
+ Name: 3d_nav_detection
+ 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
+ Value: true
+ Views:
+ Current:
+ Class: rviz/XYOrbit
+ Distance: 36.5628128
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.0599999987
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.248147249
+ Y: -1.80030918
+ 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: 0.870397925
+ Target Frame: helena/base_footprint
+ Value: XYOrbit (rviz)
+ Yaw: 4.69358253
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 906
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd0000000400000000000001d300000344fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000344000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002630000011b0000001600fffffffb0000000c00540065006c0065006f00700000000315000000b30000004900fffffffb0000001e007200650061006c00730065006e00730065005f0063006f006c006f007200000002f9000001090000000000000000000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006a80000007efc0100000003fb00000016006c0069006400610072005f0069006d0061006700650000000000000006a80000008200fffffffb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004cf0000034400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Teleop:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1704
+ X: 111
+ Y: 78
+ lidar_image:
+ collapsed: false
+ realsense_color:
+ collapsed: false