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Commit 4c6ec3dd authored by Fernando Herrero's avatar Fernando Herrero
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Update launch, add map/nav

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launch/sim_localization_global.launch
+ 6
− 4
View file @ 4c6ec3dd
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
<launch> <launch>
<arg name="name" default="model_car"/> <arg name="name" default="model_car"/>
<arg name="circuit" default="sample"/>
<arg name="output" default="screen"/> <arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/> <arg name="launch_prefix" default=""/>
...@@ -34,9 +35,10 @@ ...@@ -34,9 +35,10 @@
</include> </include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch"> <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
<arg name="name" value="$(arg circuit)"/>
</include> </include>
<!-- <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch"> <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
<arg name="move_base_params" value="move_base_params.yaml"/> <arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/> <arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/> <arg name="costmap_local_params" value="local_params.yaml"/>
...@@ -48,8 +50,8 @@ ...@@ -48,8 +50,8 @@
<arg name="output" value="$(arg output)" /> <arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" /> <arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/> <arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="opendrive_file_name" default="example"/> <arg name="opendrive_file_name" default="$(arg circuit)"/>
</include>--> </include>
<include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch"> <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
<arg name="name" value="$(arg name)"/> <arg name="name" value="$(arg name)"/>
...@@ -60,7 +62,7 @@ ...@@ -60,7 +62,7 @@
<node name="rviz" <node name="rviz"
pkg="rviz" pkg="rviz"
type="rviz" type="rviz"
args="-d $(find iri_model_car_bringup)/rviz/localization.rviz"> args="-d $(find iri_adc_launch)/rviz/localization_global.rviz">
</node> </node>
</launch> </launch>
rviz/localization_global.rviz 0 → 100644
+ 785
− 0
View file @ 4c6ec3dd
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
QMainWindow State: 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
RearImage:
collapsed: false
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1654
X: 153
Y: 0
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