diff --git a/launch/sim_localization_global.launch b/launch/sim_localization_global.launch
index 8f4576724db5fdd96fdc26304d11a5e2205ed02f..94ba25cd64eb05e44e852a15e33e298a127db725 100644
--- a/launch/sim_localization_global.launch
+++ b/launch/sim_localization_global.launch
@@ -3,6 +3,7 @@
<launch>
<arg name="name" default="model_car"/>
+ <arg name="circuit" default="sample"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
@@ -34,9 +35,10 @@
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
+ <arg name="name" value="$(arg circuit)"/>
</include>
-<!-- <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
+ <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
@@ -48,8 +50,8 @@
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
- <arg name="opendrive_file_name" default="example"/>
- </include>-->
+ <arg name="opendrive_file_name" default="$(arg circuit)"/>
+ </include>
<include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
<arg name="name" value="$(arg name)"/>
@@ -60,7 +62,7 @@
<node name="rviz"
pkg="rviz"
type="rviz"
- args="-d $(find iri_model_car_bringup)/rviz/localization.rviz">
+ args="-d $(find iri_adc_launch)/rviz/localization_global.rviz">
</node>
</launch>
diff --git a/rviz/localization_global.rviz b/rviz/localization_global.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..fc33472ecb9aa5f562f6a4c9db3a11cb3168f2cf
--- /dev/null
+++ b/rviz/localization_global.rviz
@@ -0,0 +1,785 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 80
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Models1
+ - /Sensors1/Sonar1
+ - /Odometry1
+ - /Odometry1/(red)OdomEncoders(1)1/Shape1
+ - /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
+ - /Odometry1/(green)OdomCombinedLocal1/Shape1
+ - /Nav1
+ Splitter Ratio: 0.637188196182251
+ Tree Height: 705
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: FrontImage
+Preferences:
+ PromptSaveOnExit: true
+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: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 200
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/Axes
+ Enabled: true
+ Length: 0.25
+ Name: Axes
+ Radius: 0.02500000037252903
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - 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
+ 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
+ front_camera_uvc_camera_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_camera_uvc_camera_optical:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lidar_rplidar_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lidar_rplidar_scan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_mpu9250:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_mpu9250_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_camera_uvc_camera_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_camera_uvc_camera_optical:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_center_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_center_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_left_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ side_left_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ side_left_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ side_right_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ side_right_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ steer_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ steer_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: model_car/robot_description
+ TF Prefix: model_car
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 0.25
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ Enabled: true
+ Name: Models
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: RearCenterRange
+ Queue Size: 100
+ Topic: /model_car/sensors/range/rear_center_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: RearLeftRange
+ Queue Size: 100
+ Topic: /model_car/sensors/range/rear_left_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: RearRightRange
+ Queue Size: 100
+ Topic: /model_car/sensors/range/rear_right_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: SideLeftRange
+ Queue Size: 100
+ Topic: /model_car/sensors/range/side_left_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: SideRightRange
+ Queue Size: 100
+ Topic: /model_car/sensors/range/side_right_sonar
+ Unreliable: false
+ Value: true
+ Enabled: false
+ Name: Sonar
+ - 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; 255; 255
+ Color Transformer: Intensity
+ 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: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /model_car/sensors/scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.25
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: false
+ History Length: 2
+ Name: Imu
+ Topic: /model_car/sensors/imu_data
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /model_car/sensors/basler_camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: FrontImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /model_car/sensors/delock_camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RearImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Sensors
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 1
+ Name: (blue)OdomGroundTruth(1)
+ Position Tolerance: 0
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 32; 74; 135
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /model_car/odom_ground_truth
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0.25
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 500
+ Name: (blue)OdomGroundTruth
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 32; 74; 135
+ Head Length: 0.07000000029802322
+ Head Radius: 0.02500000037252903
+ Shaft Length: 0.25
+ Shaft Radius: 0.009999999776482582
+ Value: Arrow
+ Topic: /model_car/odom_ground_truth
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: true
+ Keep: 1
+ Name: (red)OdomEncoders(1)
+ Position Tolerance: 0
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /model_car/odom
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0.25
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: true
+ Keep: 500
+ Name: (red)OdomEncoders
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.07000000029802322
+ Head Radius: 0.02500000037252903
+ Shaft Length: 0.25
+ Shaft Radius: 0.009999999776482582
+ Value: Arrow
+ Topic: /model_car/odom
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 1
+ Name: (green)OdomCombinedLocal(1)
+ Position Tolerance: 0
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 255; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /model_car/local_odom_combined
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0.25
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 500
+ Name: (green)OdomCombinedLocal
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 255; 0
+ Head Length: 0.07000000029802322
+ Head Radius: 0.02500000037252903
+ Shaft Length: 0.25
+ Shaft Radius: 0.009999999776482582
+ Value: Arrow
+ Topic: /model_car/local_odom_combined
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 1
+ Name: (yellow)OdomCombinedGlobal(1)
+ Position Tolerance: 0
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 255; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /model_car/global_odom_combined
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0.25
+ 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: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 500
+ Name: (yellow)OdomCombinedGlobal
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 255; 0
+ Head Length: 0.07000000029802322
+ Head Radius: 0.02500000037252903
+ Shaft Length: 0.25
+ Shaft Radius: 0.009999999776482582
+ Value: Arrow
+ Topic: /model_car/global_odom_combined
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Odometry
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /model_car/map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz/Pose
+ Color: 255; 165; 5
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: GoalPose
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic: /model_car/move_base_simple/goal
+ Unreliable: false
+ Value: true
+ - Alpha: 0.30000001192092896
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: LocalCostMap
+ Topic: /model_car/move_base/local_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 0.20000000298023224
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: GlobalCostMap
+ Topic: /model_car/move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 0; 255
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: GlobalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic: /model_car/move_base/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: LocalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic: /model_car/move_base/AckermannPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Nav
+ 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
+ Theta std deviation: 0.2617993950843811
+ Topic: /model_car/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /model_car/move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 19.73822784423828
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.9086316823959351
+ Y: 1.4886527061462402
+ Z: 0.3212772607803345
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.2353978157043457
+ Target Frame: model_car/base_footprint
+ Value: Orbit (rviz)
+ Yaw: 3.1503992080688477
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ FrontImage:
+ collapsed: false
+ Height: 936
+ Hide Left Dock: false
+ Hide Right Dock: false
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+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1654
+ X: 153
+ Y: 0