diff --git a/config/model_car.rviz b/config/model_car.rviz
index f96bb17552fa6e2e9b8da1e5f96437b37dc2f3b0..f18dd6ae16b91c8c1021ae19375bdca61dc24102 100644
--- a/config/model_car.rviz
+++ b/config/model_car.rviz
@@ -3,9 +3,10 @@ Panels:
Help Height: 80
Name: Displays
Property Tree Widget:
- Expanded: ~
+ Expanded:
+ - /Global Options1
Splitter Ratio: 0.625
- Tree Height: 536
+ Tree Height: 841
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -24,7 +25,9 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: RP_Lidar
+ SyncSource: rear_camera_Image
+Toolbars:
+ toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
@@ -79,69 +82,112 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- camera_board:
+ front_camera_uvc_camera_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- camera_link:
+ 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
- camera_rgb_optical_frame:
+ front_lidar_rplidar_base:
Alpha: 1
Show Axes: false
Show Trail: false
- front_left_axel_link:
+ Value: true
+ front_lidar_rplidar_scan_frame:
Alpha: 1
Show Axes: false
Show Trail: false
- front_left_wheel_link:
+ front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- front_right_axel_link:
+ imu_mpu9250:
Alpha: 1
Show Axes: false
Show Trail: false
- front_right_wheel_link:
+ 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
- imu:
+ 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
- laser:
+ 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_wheel_link:
+ 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_wheel_link:
+ rear_right_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- sensor_board:
+ rear_right_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- top_camera:
+ 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
- top_camera_optical:
+ 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
@@ -163,24 +209,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- road0_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- road0_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- road_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- road_base_link_body:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: RoadModel
Robot Description: road_description
TF Prefix: ""
@@ -213,30 +241,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- ceiling_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- panel_blue:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- panel_green:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- panel_red:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- panel_yellow:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: CeilingModel
Robot Description: ceiling_description
TF Prefix: ""
@@ -253,125 +257,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- trafficlight0_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight0_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight0_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight0_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight0_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight1_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight1_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight1_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight1_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight2_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight2_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight2_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight2_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight3_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight3_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight3_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight3_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight3_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight4_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight4_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlight4_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight4_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- trafficlight4_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlights_fixed_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
Name: TrafficlightsModel
Robot Description: trafficlights_fixed_description
TF Prefix: ""
@@ -383,16 +268,11 @@ 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
- trafficlights_extra_example_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
Name: Trafficlights2Model
Robot Description: trafficlights_extra_example_description
TF Prefix: ""
@@ -404,16 +284,11 @@ 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
- buildings_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
Name: BuildingsModel
Robot Description: buildings_description
TF Prefix: ""
@@ -430,19 +305,6 @@ 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
@@ -459,19 +321,6 @@ 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
@@ -562,95 +411,128 @@ Visualization Manager:
Topic: /odom
Unreliable: false
Value: true
- - 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: 8.40779079e-45
- Name: RP_Lidar
- Position Transformer: XYZ
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.00999999978
- Style: Points
- Topic: /scan
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 2.17529988
- Min Value: -3.23653003e-05
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 255; 255
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: false
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: camera_PointCloud2
- Position Transformer: XYZ
- Queue Size: 5
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.00999999978
- Style: Points
- Topic: /camera/depth/points
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: false
- - Class: rviz/Image
- Enabled: true
- Image Topic: /usb_cam/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: top_camera_Image
- Normalize Range: true
- Queue Size: 2
- Transport Hint: compressed
- Unreliable: false
- Value: true
- - Class: rviz/Image
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: side_right_range
+ Queue Size: 100
+ Topic: /sensors/range/side_right_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: side_left_range
+ Queue Size: 100
+ Topic: /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: rear_right_range
+ Queue Size: 100
+ Topic: /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: rear_left_range
+ Queue Size: 100
+ Topic: /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: rear_center_range
+ Queue Size: 100
+ Topic: /sensors/range/rear_center_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: false
+ History Length: 1
+ Name: Imu
+ Topic: /sensors/imu
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /sensors/delock_camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: rear_camera_Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /sensors/basler_camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: front_camera_Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - 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: 8.40779079e-45
+ Min Color: 0; 0; 0
+ Min Intensity: 1.40129846e-45
+ Name: RP_Lidar
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.00999999978
+ Style: Points
+ Topic: /sensors/scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
Enabled: true
- Image Topic: /camera/rgb/image_raw
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: camera_Image
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: true
+ Name: Sensors
Enabled: true
Global Options:
Background Color: 26; 26; 26
Default Light: true
- Fixed Frame: world
+ Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
@@ -671,33 +553,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 22.3086147
+ Distance: 6.36128855
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: -0.137567118
- Y: -4.57592106
- Z: 0.010748677
+ X: 0.408853233
+ Y: -0.595593214
+ Z: -0.697179675
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
- Pitch: 1.56979632
+ Pitch: 0.714797616
Target Frame: base_link
Value: Orbit (rviz)
- Yaw: 3.14039636
+ Yaw: 3.99539614
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 751
+ Height: 1056
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001f4000000fb00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e00000000000000000000000100000127000003dafc0200000008fb0000001a00630061006d006500720061005f00430061006d0065007200610000000028000000a40000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d0061006700650100000028000001f60000001600fffffffb000000220074006f0070005f00630061006d006500720061005f00430061006d00650072006100000000ff000001400000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d0061006700650100000224000001de0000001600fffffffb00000024004c0069006e00650044006500740065006300740069006f006e0049006d00610067006501000001a2000000bc0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001db000000e0000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004a2000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -706,10 +588,10 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1263
- X: 89
+ Width: 1855
+ X: 65
Y: 24
- camera_Image:
+ front_camera_Image:
collapsed: false
- top_camera_Image:
+ rear_camera_Image:
collapsed: false