diff --git a/rviz/description.rviz b/rviz/description.rviz
index 11adc8f84f8984e0c4bdca1d120a49a9c359268e..a1e4c245be1e1220e369185cc4551aa49ce42d97 100644
--- a/rviz/description.rviz
+++ b/rviz/description.rviz
@@ -5,12 +5,13 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- - /Status1
- - /Grid1
- /Models1
- - /Models1/RobotModel1
- Splitter Ratio: 0.69186002
- Tree Height: 421
+ - /Sensors1
+ - /Sensors1/Odometry1
+ - /Sensors1/Odometry1/Odometry1/Shape1
+ - /Sensors1/Sonar1
+ Splitter Ratio: 0.6352941393852234
+ Tree Height: 794
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -19,7 +20,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679016
+ Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@@ -29,7 +30,9 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: ""
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@@ -41,7 +44,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.0299999993
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -53,20 +56,6 @@ Visualization Manager:
Plane Cell Count: 200
Reference Frame: <Fixed Frame>
Value: true
- - Class: rviz/TF
- Enabled: false
- Frame Timeout: 15
- Frames:
- All Enabled: true
- Marker Scale: 0.200000003
- Name: TF
- Show Arrows: false
- Show Axes: true
- Show Names: true
- Tree:
- {}
- Update Interval: 0
- Value: false
- Class: rviz/Group
Displays:
- Alpha: 1
@@ -79,6 +68,10 @@ 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
@@ -88,6 +81,15 @@ Visualization Manager:
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
@@ -107,11 +109,56 @@ Visualization Manager:
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
@@ -126,6 +173,15 @@ Visualization Manager:
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
@@ -135,18 +191,393 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
+ Robot Description: model_car/robot_description
+ TF Prefix: model_car
Update Interval: 0
Value: true
Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ map:
+ Value: true
+ model_car/base_footprint:
+ Value: true
+ model_car/base_link:
+ Value: true
+ model_car/body:
+ Value: true
+ model_car/front_camera_uvc_camera_base:
+ Value: true
+ model_car/front_camera_uvc_camera_optical:
+ Value: true
+ model_car/front_left_wheel:
+ Value: true
+ model_car/front_lidar_rplidar_base:
+ Value: true
+ model_car/front_lidar_rplidar_scan_frame:
+ Value: true
+ model_car/front_right_wheel:
+ Value: true
+ model_car/imu_mpu9250:
+ Value: true
+ model_car/imu_mpu9250_base:
+ Value: true
+ model_car/odom:
+ Value: true
+ model_car/rear_camera_uvc_camera_base:
+ Value: true
+ model_car/rear_camera_uvc_camera_optical:
+ Value: true
+ model_car/rear_center_base:
+ Value: true
+ model_car/rear_center_ranger1d:
+ Value: true
+ model_car/rear_left_base:
+ Value: true
+ model_car/rear_left_ranger1d:
+ Value: true
+ model_car/rear_left_wheel:
+ Value: true
+ model_car/rear_right_base:
+ Value: true
+ model_car/rear_right_ranger1d:
+ Value: true
+ model_car/rear_right_wheel:
+ Value: true
+ model_car/side_left_base:
+ Value: true
+ model_car/side_left_ranger1d:
+ Value: true
+ model_car/side_right_base:
+ Value: true
+ model_car/side_right_ranger1d:
+ Value: true
+ model_car/steer_left:
+ Value: true
+ model_car/steer_right:
+ Value: true
+ Marker Scale: 0.25
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ model_car/odom:
+ model_car/base_footprint:
+ model_car/base_link:
+ model_car/body:
+ {}
+ model_car/front_camera_uvc_camera_base:
+ model_car/front_camera_uvc_camera_optical:
+ {}
+ model_car/front_lidar_rplidar_base:
+ model_car/front_lidar_rplidar_scan_frame:
+ {}
+ model_car/imu_mpu9250_base:
+ model_car/imu_mpu9250:
+ {}
+ model_car/rear_camera_uvc_camera_base:
+ model_car/rear_camera_uvc_camera_optical:
+ {}
+ model_car/rear_center_base:
+ model_car/rear_center_ranger1d:
+ {}
+ model_car/rear_left_base:
+ model_car/rear_left_ranger1d:
+ {}
+ model_car/rear_left_wheel:
+ {}
+ model_car/rear_right_base:
+ model_car/rear_right_ranger1d:
+ {}
+ model_car/rear_right_wheel:
+ {}
+ model_car/side_left_base:
+ model_car/side_left_ranger1d:
+ {}
+ model_car/side_right_base:
+ model_car/side_right_ranger1d:
+ {}
+ model_car/steer_left:
+ model_car/front_left_wheel:
+ {}
+ model_car/steer_right:
+ model_car/front_right_wheel:
+ {}
+ Update Interval: 0
+ Value: true
Enabled: true
Name: Models
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Group
+ Displays:
+ - 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: 1000
+ Name: GroundTruth
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 0; 255
+ 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: GroundTruth(1)
+ Position Tolerance: 0
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 0; 255
+ Head Length: 0.15000000596046448
+ Head Radius: 0.05000000074505806
+ Shaft Length: 0.5
+ Shaft Radius: 0.02500000037252903
+ 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: 1000
+ Name: Odometry
+ 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: Odometry(1)
+ Position Tolerance: 0
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.15000000596046448
+ Head Radius: 0.05000000074505806
+ Shaft Length: 0.5
+ Shaft Radius: 0.02500000037252903
+ Value: Arrow
+ Topic: /model_car/odom
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Odometry
+ - 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: -999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ 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
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
- Fixed Frame: base_link
+ Fixed Frame: model_car/odom
Frame Rate: 30
Name: root
Tools:
@@ -157,7 +588,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
@@ -167,33 +601,37 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 0.476244211
+ Distance: 10
Enable Stereo Rendering:
- Stereo Eye Separation: 0.0599999987
+ Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.222137496
- Y: 0.128144473
- Z: 0.00814992562
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.0500000007
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.00999999978
- Pitch: 0.310399383
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7853981852531433
Target Frame: base_link
Value: Orbit (rviz)
- Yaw: 1.22540057
+ Yaw: 0.7853981852531433
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 636
+ FrontImage:
+ collapsed: false
+ Height: 1025
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000016a00000236fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000236000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f00000236fc0200000006fb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003880000023600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001d10000001600fffffffb0000001200520065006100720049006d0061006700650100000214000001d00000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RearImage:
+ collapsed: false
Selection:
collapsed: false
Time:
@@ -202,6 +640,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1272
- X: 184
- Y: 236
+ Width: 1853
+ X: 1987
+ Y: 27