diff --git a/seat_car_description/config/seat_car.rviz b/seat_car_description/config/seat_car.rviz
index 109e98a12470e49e224466e99f39df4b47020cf2..b6cf72a9e8710352a5f00477ffa5ccee8f7d10cf 100644
--- a/seat_car_description/config/seat_car.rviz
+++ b/seat_car_description/config/seat_car.rviz
@@ -5,10 +5,8 @@ Panels:
Property Tree Widget:
Expanded:
- /Odometry1/Shape1
- - /VisualGPSOdometry1/Shape1
- - /VisualGPSOdometry1/Covariance1
Splitter Ratio: 0.72622478
- Tree Height: 256
+ Tree Height: 602
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -42,22 +40,42 @@ Visualization Manager:
Name: Grid
Normal Cell Count: 0
Offset:
- X: 3
- Y: 3.25
+ X: 0
+ Y: -5
Z: 0.00999999978
Plane: XY
- Plane Cell Count: 10
+ Plane Cell Count: 12
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
- All Enabled: true
+ All Enabled: false
base_link:
Value: true
body:
Value: true
+ building1_body:
+ Value: true
+ building1_link:
+ Value: true
+ building2_body:
+ Value: true
+ building2_link:
+ Value: true
+ building3_body:
+ Value: true
+ building3_link:
+ Value: true
+ building4_body:
+ Value: true
+ building4_link:
+ Value: true
+ building5_body:
+ Value: true
+ building5_link:
+ Value: true
buildings_base_link:
Value: true
camera_board:
@@ -81,6 +99,46 @@ Visualization Manager:
laser:
Value: true
map:
+ Value: false
+ obstacle1/base_footprint:
+ Value: true
+ obstacle1/base_link:
+ Value: true
+ obstacle1/body:
+ Value: true
+ obstacle1/odom:
+ Value: true
+ obstacle2/base_footprint:
+ Value: true
+ obstacle2/base_link:
+ Value: true
+ obstacle2/body:
+ Value: true
+ obstacle2/odom:
+ Value: true
+ obstacle3a/base_footprint:
+ Value: true
+ obstacle3a/base_link:
+ Value: true
+ obstacle3a/body:
+ Value: true
+ obstacle3a/odom:
+ Value: true
+ obstacle3b/base_footprint:
+ Value: true
+ obstacle3b/base_link:
+ Value: true
+ obstacle3b/body:
+ Value: true
+ obstacle3b/odom:
+ Value: true
+ obstacle3c/base_footprint:
+ Value: true
+ obstacle3c/base_link:
+ Value: true
+ obstacle3c/body:
+ Value: true
+ obstacle3c/odom:
Value: true
odom:
Value: true
@@ -116,8 +174,108 @@ Visualization Manager:
Value: true
road_base_link_body:
Value: true
+ roundabout1_light_image:
+ Value: true
+ roundabout1_light_link:
+ Value: true
+ roundabout1_link:
+ Value: true
+ roundabout1_tag_image:
+ Value: true
+ roundabout1_tag_link:
+ Value: true
+ roundabout2_light_image:
+ Value: true
+ roundabout2_light_link:
+ Value: true
+ roundabout2_link:
+ Value: true
+ roundabout2_tag_image:
+ Value: true
+ roundabout2_tag_link:
+ Value: true
+ semaphore_intersection1_light_image:
+ Value: true
+ semaphore_intersection1_light_link:
+ Value: true
+ semaphore_intersection1_link:
+ Value: true
+ semaphore_intersection1_tag_image:
+ Value: true
+ semaphore_intersection1_tag_link:
+ Value: true
+ semaphore_parking1_light_image:
+ Value: true
+ semaphore_parking1_light_link:
+ Value: true
+ semaphore_parking1_link:
+ Value: true
+ semaphore_parking1_tag_image:
+ Value: true
+ semaphore_parking1_tag_link:
+ Value: true
+ semaphore_parking2_light_image:
+ Value: true
+ semaphore_parking2_light_link:
+ Value: true
+ semaphore_parking2_link:
+ Value: true
+ semaphore_parking2_tag_image:
+ Value: true
+ semaphore_parking2_tag_link:
+ Value: true
+ semaphore_start1_light_image:
+ Value: true
+ semaphore_start1_light_link:
+ Value: true
+ semaphore_start1_link:
+ Value: true
+ semaphore_start1_tag_image:
+ Value: true
+ semaphore_start1_tag_link:
+ Value: true
+ semaphore_start2_light_image:
+ Value: true
+ semaphore_start2_light_link:
+ Value: true
+ semaphore_start2_link:
+ Value: true
+ semaphore_start2_tag_image:
+ Value: true
+ semaphore_start2_tag_link:
+ Value: true
sensor_board:
Value: true
+ signal_left1_light_image:
+ Value: true
+ signal_left1_light_link:
+ Value: true
+ signal_left1_link:
+ Value: true
+ signal_left1_tag_image:
+ Value: true
+ signal_left1_tag_link:
+ Value: true
+ signal_right1_light_image:
+ Value: true
+ signal_right1_light_link:
+ Value: true
+ signal_right1_link:
+ Value: true
+ signal_right1_tag_image:
+ Value: true
+ signal_right1_tag_link:
+ Value: true
+ stop1_light_image:
+ Value: true
+ stop1_light_link:
+ Value: true
+ stop1_link:
+ Value: true
+ stop1_tag_image:
+ Value: true
+ stop1_tag_link:
+ Value: true
top_camera:
Value: true
top_camera_optical:
@@ -136,7 +294,21 @@ Visualization Manager:
Tree:
world:
buildings_base_link:
- {}
+ building1_link:
+ building1_body:
+ {}
+ building2_link:
+ building2_body:
+ {}
+ building3_link:
+ building3_body:
+ {}
+ building4_link:
+ building4_body:
+ {}
+ building5_link:
+ building5_body:
+ {}
ceiling_base_link:
panel_blue:
{}
@@ -173,6 +345,31 @@ Visualization Manager:
{}
laser:
{}
+ obstacle1/odom:
+ obstacle1/base_footprint:
+ obstacle1/base_link:
+ obstacle1/body:
+ {}
+ obstacle2/odom:
+ obstacle2/base_footprint:
+ obstacle2/base_link:
+ obstacle2/body:
+ {}
+ obstacle3a/odom:
+ obstacle3a/base_footprint:
+ obstacle3a/base_link:
+ obstacle3a/body:
+ {}
+ obstacle3b/odom:
+ obstacle3b/base_footprint:
+ obstacle3b/base_link:
+ obstacle3b/body:
+ {}
+ obstacle3c/odom:
+ obstacle3c/base_footprint:
+ obstacle3c/base_link:
+ obstacle3c/body:
+ {}
perimeter_base_footprint:
perimeter_base_link:
perimeter_body1:
@@ -190,9 +387,77 @@ Visualization Manager:
road_base_link_body:
{}
trafficlights_extra_example_base_link:
- {}
+ roundabout1_link:
+ roundabout1_light_link:
+ roundabout1_light_image:
+ {}
+ roundabout1_tag_link:
+ roundabout1_tag_image:
+ {}
+ roundabout2_link:
+ roundabout2_light_link:
+ roundabout2_light_image:
+ {}
+ roundabout2_tag_link:
+ roundabout2_tag_image:
+ {}
+ semaphore_intersection1_link:
+ semaphore_intersection1_light_link:
+ semaphore_intersection1_light_image:
+ {}
+ semaphore_intersection1_tag_link:
+ semaphore_intersection1_tag_image:
+ {}
+ signal_left1_link:
+ signal_left1_light_link:
+ signal_left1_light_image:
+ {}
+ signal_left1_tag_link:
+ signal_left1_tag_image:
+ {}
+ signal_right1_link:
+ signal_right1_light_link:
+ signal_right1_light_image:
+ {}
+ signal_right1_tag_link:
+ signal_right1_tag_image:
+ {}
+ stop1_link:
+ stop1_light_link:
+ stop1_light_image:
+ {}
+ stop1_tag_link:
+ stop1_tag_image:
+ {}
trafficlights_fixed_base_link:
- {}
+ semaphore_parking1_link:
+ semaphore_parking1_light_link:
+ semaphore_parking1_light_image:
+ {}
+ semaphore_parking1_tag_link:
+ semaphore_parking1_tag_image:
+ {}
+ semaphore_parking2_link:
+ semaphore_parking2_light_link:
+ semaphore_parking2_light_image:
+ {}
+ semaphore_parking2_tag_link:
+ semaphore_parking2_tag_image:
+ {}
+ semaphore_start1_link:
+ semaphore_start1_light_link:
+ semaphore_start1_light_image:
+ {}
+ semaphore_start1_tag_link:
+ semaphore_start1_tag_image:
+ {}
+ semaphore_start2_link:
+ semaphore_start2_light_link:
+ semaphore_start2_light_image:
+ {}
+ semaphore_start2_tag_link:
+ semaphore_start2_tag_image:
+ {}
Update Interval: 0
Value: true
- Alpha: 0.899999976
@@ -411,12 +676,103 @@ Visualization Manager:
Collision Enabled: false
Enabled: true
Links:
- All Links Enabled:
- {}
+ All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ semaphore_parking1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_parking1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_parking1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_parking1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_parking1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_parking2_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_parking2_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_parking2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_parking2_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_parking2_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_start1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_start1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_start1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_start1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_start1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_start2_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_start2_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_start2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_start2_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_start2_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
trafficlights_fixed_base_link:
Alpha: 1
Show Axes: false
@@ -432,12 +788,149 @@ Visualization Manager:
Collision Enabled: false
Enabled: true
Links:
- All Links Enabled:
- {}
+ All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ roundabout1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ roundabout1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ roundabout1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ roundabout1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ roundabout1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ roundabout2_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ roundabout2_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ roundabout2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ roundabout2_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ roundabout2_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_intersection1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_intersection1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ semaphore_intersection1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_intersection1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ semaphore_intersection1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ signal_left1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ signal_left1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ signal_left1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ signal_left1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ signal_left1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ signal_right1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ signal_right1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ signal_right1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ signal_right1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ signal_right1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ stop1_light_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ stop1_light_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ stop1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ stop1_tag_image:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ stop1_tag_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
trafficlights_extra_example_base_link:
Alpha: 1
Show Axes: false
@@ -453,12 +946,56 @@ Visualization Manager:
Collision Enabled: false
Enabled: true
Links:
- All Links Enabled:
- {}
+ All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ building1_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ building1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ building2_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ building2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ building3_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ building3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ building4_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ building4_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ building5_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ building5_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
buildings_base_link:
Alpha: 1
Show Axes: false
@@ -479,6 +1016,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Obstacle1Model
Robot Description: obstacle1_description
TF Prefix: obstacle1
@@ -495,6 +1045,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Obstacle2Model
Robot Description: obstacle2_description
TF Prefix: obstacle2
@@ -511,6 +1074,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Obstacle3aModel
Robot Description: obstacle3a_description
TF Prefix: obstacle3a
@@ -527,6 +1103,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Obstacle3bModel
Robot Description: obstacle3b_description
TF Prefix: obstacle3b
@@ -543,6 +1132,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
Name: Obstacle3cModel
Robot Description: obstacle3c_description
TF Prefix: obstacle3c
@@ -600,9 +1202,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 0
+ Max Intensity: 999999
Min Color: 0; 0; 0
- Min Intensity: 0
+ Min Intensity: -2.05829813e-31
Name: RP_Lidar
Position Transformer: XYZ
Queue Size: 10
@@ -669,52 +1271,79 @@ Visualization Manager:
Transport Hint: raw
Unreliable: false
Value: true
- - Class: rviz/Image
- Enabled: true
- Image Topic: /blob3/image_out/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: BlobImage
- Normalize Range: true
- Queue Size: 2
- Transport Hint: compressed
- Unreliable: false
- Value: true
- - Angle Tolerance: 0.100000001
- Class: rviz/Odometry
- Covariance:
- Orientation:
- Alpha: 0.5
- Color: 255; 255; 127
- Color Style: Unique
- Frame: Local
- Offset: 1
- Scale: 1
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.100000001
+ 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: 1
+ Name: VisualGPSOdometry
+ Position Tolerance: 0.100000001
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Color: 85; 85; 255
+ Head Length: 0.400000006
+ Head Radius: 0.400000006
+ Shaft Length: 1
+ Shaft Radius: 0.200000003
+ Value: Arrow
+ Topic: /iri_visual_gps/odom
+ Unreliable: false
Value: true
- Position:
- Alpha: 0.300000012
- Color: 204; 51; 204
- Scale: 1
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Class: rviz/Pose
+ Color: 85; 255; 255
+ Enabled: true
+ Head Length: 0.5
+ Head Radius: 0.300000012
+ Name: VisualGpsPose
+ Shaft Length: 1.5
+ Shaft Radius: 0.200000003
+ Shape: Arrow
+ Topic: /iri_visual_gps/pose
+ Unreliable: false
Value: true
- Value: false
- Enabled: true
- Keep: 2
- Name: VisualGPSOdometry
- Position Tolerance: 0.100000001
- Shape:
- Alpha: 1
- Axes Length: 1
- Axes Radius: 0.100000001
- Color: 85; 85; 255
- Head Length: 0.100000001
- Head Radius: 0.100000001
- Shaft Length: 0.25
- Shaft Radius: 0.0500000007
- Value: Arrow
- Topic: /visual_gps/odom
- Unreliable: false
- Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /iri_visual_gps/markers
+ Name: VisualGpsMarkers
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/Image
+ Enabled: false
+ Image Topic: /blob_detector_red/image_out/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: BlobImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Enabled: false
+ Name: VisualGPS
Enabled: true
Global Options:
Background Color: 26; 26; 26
@@ -740,35 +1369,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 19.7382278
+ Distance: 19.2443409
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 2.49929953
- Y: 3.32250428
- Z: 0.565967321
+ X: -0.252488881
+ Y: -4.44192934
+ Z: -0.00389754726
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
- Pitch: 1.49039757
+ Pitch: 1.56979632
Target Frame: base_link
Value: Orbit (rviz)
- Yaw: 3.13040161
+ Yaw: 3.14039445
Saved: ~
Window Geometry:
BlobImage:
collapsed: false
Displays:
collapsed: false
- Height: 751
+ Height: 817
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 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
Selection:
collapsed: false
Time:
@@ -777,9 +1406,9 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1263
- X: 537
- Y: 215
+ Width: 1395
+ X: 65
+ Y: 24
camera_Image:
collapsed: false
top_camera_Image:
diff --git a/seat_car_description/launch/spawn_car.launch b/seat_car_description/launch/spawn_car.launch
index d459cfe13c1c652fea8e5ece06e79fd37dc77f82..e726d16a72844406adcbbc4aae7c5c2e7a52e22e 100644
--- a/seat_car_description/launch/spawn_car.launch
+++ b/seat_car_description/launch/spawn_car.launch
@@ -95,9 +95,11 @@
<group unless="$(arg fake_localization)">
+ <!--
<node name="$(arg name)_static_tf_map_odom" pkg="tf" type="static_transform_publisher"
args="0 0 0.04 0 0 0 $(arg map_frame) $(arg odom_frame) 100">
</node>
+ -->
</group>
diff --git a/seat_car_description/urdf/car.xacro b/seat_car_description/urdf/car.xacro
index 0db08114a649d67f8ffcb5712d3a0475a17ee1f5..59c78a28ef0b1c4277f2589017ab6f9706446d87 100644
--- a/seat_car_description/urdf/car.xacro
+++ b/seat_car_description/urdf/car.xacro
@@ -17,5 +17,6 @@
<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/front_rgbd_camera.gazebo" />
<!--<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/front_rgb_camera.gazebo" />--> <!-- only rgb, no depth-->
<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/top_camera.gazebo" />
+ <!--<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/top_camera_nodist.gazebo" /> -->
</robot>
\ No newline at end of file
diff --git a/seat_car_description/urdf/include/sensors/top_camera.gazebo b/seat_car_description/urdf/include/sensors/top_camera.gazebo
index 96e7e7666623a899f9511a977b1ce65ed13f7104..56bb2dbbb931676b70605cb6a9535aaa983960a8 100644
--- a/seat_car_description/urdf/include/sensors/top_camera.gazebo
+++ b/seat_car_description/urdf/include/sensors/top_camera.gazebo
@@ -16,21 +16,21 @@
<!-- -->
<sensor type="wideanglecamera" name="${top_camera_name}">
<camera>
- <horizontal_fov>3.14159</horizontal_fov>
+ <horizontal_fov>3.14</horizontal_fov>
<image>
- <width>1024</width>
- <height>768</height>
+ <width>640</width>
+ <height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<distortion>
- <k1>-0.262853</k1>
- <k2>0.034736</k2>
+ <k1>-0.148047</k1>
+ <k2>0.013815</k2>
<k3>0.000000</k3>
- <p1>0.000539</p1>
- <p2>0.000405</p2>
+ <p1>0.000267</p1>
+ <p2>-0.003799</p2>
</distortion>
<lens>
<type>stereographic</type>
@@ -49,15 +49,17 @@
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${top_camera_name}_optical</frameName>
<hackBaseline>0.0</hackBaseline>
- <distortionK1>-0.262853</distortionK1>
- <distortionK2>0.034736</distortionK2>
+ <distortionK1>-0.148047</distortionK1>
+ <distortionK2>0.013815</distortionK2>
<distortionK3>0.000000</distortionK3>
- <distortionT1>0.000539</distortionT1>
- <distortionT2>0.000405</distortionT2>
-<!-- <CxPrime>526.104889</CxPrime>
- <Cx>526.104889</Cx>
- <Cy>403.143888</Cy>-->
- <focalLength>513.238105</focalLength>
+ <distortionT1>0.000267</distortionT1>
+ <distortionT2>-0.003799</distortionT2>
+ <!--
+ <CxPrime>321.489066</CxPrime>
+ <Cx>321.4890669</Cx>
+ <Cy>241.234121</Cy>
+ -->
+ <focalLength>217.571334</focalLength>
<borderCrop>true</borderCrop>
</plugin>
</sensor>
diff --git a/seat_car_description/urdf/include/sensors/top_camera_nodist.gazebo b/seat_car_description/urdf/include/sensors/top_camera_nodist.gazebo
index ec0746b0e134f2fbf560ea04a9a6b180056455f8..05f4a9c79bbfb0f7fe0abb5b0b39de870c11e20e 100644
--- a/seat_car_description/urdf/include/sensors/top_camera_nodist.gazebo
+++ b/seat_car_description/urdf/include/sensors/top_camera_nodist.gazebo
@@ -18,19 +18,21 @@
<camera>
<horizontal_fov>2.36</horizontal_fov>
<image>
- <width>1024</width>
- <height>768</height>
+ <width>640</width>
+ <height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
-<!-- <lens>
+ <!--
+ <lens>
<type>stereographic</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>1.5707</cutoff_angle>
<env_texture_size>512</env_texture_size>
- </lens>-->
+ </lens>
+ -->
</camera>
<always_on>1</always_on>
<update_rate>${rate}</update_rate>
@@ -42,11 +44,13 @@
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${top_camera_name}_optical</frameName>
<hackBaseline>0.0</hackBaseline>
-<!-- <distortionK1>-0.241471</distortionK1>
+ <!--
+ <distortionK1>-0.241471</distortionK1>
<distortionK2>0.038162</distortionK2>
<distortionK3>0.000000</distortionK3>
<distortionT1>0.005967</distortionT1>
- <distortionT2>-0.002110</distortionT2>-->
+ <distortionT2>-0.002110</distortionT2>
+ -->
</plugin>
</sensor>