From f60be41e3210c5307a5830b019f86ec80e269160 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 4 Feb 2021 19:09:45 +0100
Subject: [PATCH] Update launch files
---
launch/sim_localization_global.launch | 5 +-
launch/sim_mapping.launch | 55 ++
launch/sim_navigation.launch | 73 +++
rviz/localization_global.rviz | 26 +-
rviz/nav.rviz | 784 ++++++++++++++++++++++++++
5 files changed, 929 insertions(+), 14 deletions(-)
create mode 100644 launch/sim_mapping.launch
create mode 100644 launch/sim_navigation.launch
create mode 100644 rviz/nav.rviz
diff --git a/launch/sim_localization_global.launch b/launch/sim_localization_global.launch
index 94ba25c..fa77808 100644
--- a/launch/sim_localization_global.launch
+++ b/launch/sim_localization_global.launch
@@ -10,7 +10,7 @@
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
- <arg name="car_y" default="0.0"/>
+ <arg name="car_y" default="-0.22"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
@@ -47,6 +47,9 @@
<arg name="global_planner" value="global_planner"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="map_name" value="adc_map"/>
+ <arg name="initial_x" value="$(arg car_x)"/>
+ <arg name="initial_y" value="$(arg car_y)"/>
+ <arg name="initial_yaw" value="$(arg car_yaw)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
diff --git a/launch/sim_mapping.launch b/launch/sim_mapping.launch
new file mode 100644
index 0000000..3b8fda1
--- /dev/null
+++ b/launch/sim_mapping.launch
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="model_car"/>
+ <arg name="circuit" default="sample"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="world" default="empty"/>
+ <arg name="gazebo_gui" default="True"/>
+ <arg name="car_x" default="0.0"/>
+ <arg name="car_y" default="-0.22"/>
+ <arg name="car_yaw" default="0.0"/>
+ <arg name="resolution" default="0.05"/>
+
+ <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="world" value="$(arg world)"/>
+ <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+ <arg name="car_x" value="$(arg car_x)"/>
+ <arg name="car_y" value="$(arg car_y)"/>
+ <arg name="car_yaw" value="$(arg car_yaw)"/>
+ <arg name="sim_config_path" value="$(find iri_model_car_gazebo)/config"/>
+ <arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
+ <arg name="control_config_file" value="$(find iri_model_car_control)/config/params.yaml"/>
+ <arg name="odometry_config_file" value="$(find iri_model_car_odometry)/config/params.yaml"/>
+ </include>
+
+ <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
+ <arg name="name" value="$(arg circuit)"/>
+ </include>
+
+ <include file="$(find iri_model_car_rosnav)/launch/nav_mapping.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"/>
+ <arg name="costmap_global_params" value="global_params.yaml"/>
+ <arg name="local_planner" value="ackermann"/>
+ <arg name="global_planner" value="global_planner"/>
+ <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
+ <arg name="resolution" value="$(arg resolution)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find iri_model_car_rosnav)/rviz/model_car_gmapping.rviz">
+ </node>
+
+</launch>
+
diff --git a/launch/sim_navigation.launch b/launch/sim_navigation.launch
new file mode 100644
index 0000000..853bc92
--- /dev/null
+++ b/launch/sim_navigation.launch
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="model_car"/>
+ <arg name="circuit" default="sample"/>
+ <arg name="map_name" default="$(arg circuit)005"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+
+ <arg name="world" default="empty"/>
+ <arg name="gazebo_gui" default="True"/>
+ <arg name="car_x" default="0.0"/>
+ <arg name="car_y" default="-0.22"/>
+ <arg name="car_yaw" default="0.0"/>
+
+ <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="world" value="$(arg world)"/>
+ <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+ <arg name="car_x" value="$(arg car_x)"/>
+ <arg name="car_y" value="$(arg car_y)"/>
+ <arg name="car_yaw" value="$(arg car_yaw)"/>
+ <arg name="sim_config_path" value="$(find iri_model_car_gazebo)/config"/>
+ <arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
+ <arg name="control_config_file" value="$(find iri_model_car_control)/config/params.yaml"/>
+ <arg name="odometry_config_file" value="$(find iri_model_car_odometry)/config/params_no_tf.yaml"/>
+ </include>
+
+ <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
+ <arg name="local_ekf_yaml_filename" value="local_ekf_odom_imu"/>
+ <arg name="global_loc" value="true"/>
+ <arg name="global_ekf_yaml_filename" value="global_ekf_odom_imu_amcl"/>
+ </include>
+
+ <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
+ <arg name="name" value="$(arg circuit)"/>
+ </include>
+
+ <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
+ <arg name="move_base_params" value="move_base_params.yaml"/>
+ <arg name="costmap_common_params" value="common_params.yaml"/>
+ <arg name="costmap_local_params" value="local_params.yaml"/>
+ <arg name="costmap_global_params" value="global_params.yaml"/>
+ <arg name="local_planner" value="ackermann"/>
+ <arg name="global_planner" value="sbpl"/>
+ <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
+ <arg name="map_path" value="$(find iri_adc_circuit_example)/map"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="initial_x" value="$(arg car_x)"/>
+ <arg name="initial_y" value="$(arg car_y)"/>
+ <arg name="initial_yaw" value="$(arg car_yaw)"/>
+ <arg name="output" value="$(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="$(arg circuit)"/>
+ </include>
+
+ <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find iri_adc_launch)/rviz/nav.rviz">
+ </node>
+
+</launch>
diff --git a/rviz/localization_global.rviz b/rviz/localization_global.rviz
index fc33472..b04a8a1 100644
--- a/rviz/localization_global.rviz
+++ b/rviz/localization_global.rviz
@@ -13,7 +13,7 @@ Panels:
- /Odometry1/(green)OdomCombinedLocal1/Shape1
- /Nav1
Splitter Ratio: 0.637188196182251
- Tree Height: 705
+ Tree Height: 641
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -428,7 +428,7 @@ Visualization Manager:
Color: 204; 51; 204
Scale: 1
Value: true
- Value: true
+ Value: false
Enabled: true
Keep: 1
Name: (red)OdomEncoders(1)
@@ -462,7 +462,7 @@ Visualization Manager:
Color: 204; 51; 204
Scale: 1
Value: true
- Value: true
+ Value: false
Enabled: true
Keep: 500
Name: (red)OdomEncoders
@@ -741,35 +741,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 19.73822784423828
+ Distance: 33.3944091796875
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
+ X: -6.919537544250488
+ Y: 2.382641077041626
+ Z: -2.4045217037200928
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
+ Pitch: 1.500397801399231
Target Frame: model_car/base_footprint
Value: Orbit (rviz)
- Yaw: 3.1503992080688477
+ Yaw: 3.130399227142334
Saved: ~
Window Geometry:
Displays:
collapsed: false
FrontImage:
collapsed: false
- Height: 936
+ Height: 872
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 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
RearImage:
collapsed: false
Selection:
@@ -780,6 +780,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1654
- X: 153
+ Width: 1373
+ X: 67
Y: 0
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
new file mode 100644
index 0000000..eadf808
--- /dev/null
+++ b/rviz/nav.rviz
@@ -0,0 +1,784 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 80
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Models1
+ - /Sensors1/Sonar1
+ - /Odometry1/(red)OdomEncoders(1)1/Shape1
+ - /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
+ - /Odometry1/(green)OdomCombinedLocal1/Shape1
+ - /Nav1
+ Splitter Ratio: 0.637188196182251
+ Tree Height: 641
+ - 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: false
+ 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: false
+ 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: false
+ 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: 31.97244644165039
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 1.1276541948318481
+ Y: 2.8684005737304688
+ Z: -1.8374912738800049
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.500397801399231
+ Target Frame: model_car/base_footprint
+ Value: Orbit (rviz)
+ Yaw: 3.130399227142334
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ FrontImage:
+ collapsed: false
+ Height: 872
+ 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: 1373
+ X: 67
+ Y: 0
--
GitLab