diff --git a/launch/include/localization.launch b/launch/include/localization.launch index 2c1407eebe8563124ee1be4dc1d2f7a12296214c..e2d13f60839295d3cd4f75daa9f57fde7a9b1315 100644 --- a/launch/include/localization.launch +++ b/launch/include/localization.launch @@ -3,8 +3,8 @@ <launch> <arg name="name" default="model_car"/> - <arg name="local_ekf_yaml_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_local_ekf.yaml"/> - <arg name="global_ekf_yaml_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_global_ekf.yaml"/> + <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_local_ekf.yaml"/> + <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_global_ekf.yaml"/> <arg name="global_loc" default="false"/> <node pkg="imu_msg_fix" @@ -31,16 +31,14 @@ ns="$(arg name)" clear_params="true" output="screen"> - <rosparam command="load" file="$(arg local_ekf_yaml_file)" /> + <rosparam command="load" file="$(arg local_ekf_config_file)" /> <remap from="odometry/filtered" to="/$(arg name)/local_odom_combined"/> </node> - - <!-- + <node pkg="tf" type="static_transform_publisher" name="map_transform" args="0 0 0 0 0 0 map model_car/odom 20" unless="$(arg global_loc)"/> - --> <node pkg="robot_localization" type="ekf_localization_node" @@ -49,58 +47,7 @@ clear_params="true" output="screen" if="$(arg global_loc)"> - <rosparam command="load" file="$(arg global_ekf_yaml_file)" /> + <rosparam command="load" file="$(arg global_ekf_config_file)" /> <remap from="odometry/filtered" to="/$(arg name)/global_odom_combined"/> </node> - - <!-- - <node pkg="robot_localization" - type="navsat_transform_node" - name="navsat_transform_node" - output="screen" - respawn="false" - if="$(arg global_loc)"> - <param name="frequency" value="4"/> - <param name="delay" value="0.0"/> - <param name="magnetic_declination_radians" value="0.0"/> - <param name="yaw_offset" value="0.0"/> - <param name="zero_altitude" value="True"/> - <param name="publish_filtered_gps" value="true"/> - <param name="broadcast_utm_transform" value="true"/> - <param name="wait_for_datum" value="true"/> - <rosparam param="datum">[0.0, 0.0, 0.0]</rosparam> - <param name="use_odometry_yaw" value="false"/> - <param name="broadcast_utm_transform_as_parent_frame" value="true"/> - <param name="trasnform_timeout" value="0.1"/> - <remap from="/odometry/filtered" to="/$(arg name)/global_odom_combined" /> - <remap from="/odometry/gps" to="/$(arg name)/gps_odometry" /> - </node> - --> - - <!-- - <node pkg="robot_localization" - type="navsat_transform_node" - name="navsat_transform_node" - output="screen" - respawn="false" - if="$(arg global_loc)"> - <param name="frequency" value="4"/> - <param name="delay" value="0.0"/> - <param name="magnetic_declination_radians" value="0.0"/> - <param name="yaw_offset" value="1.5707"/> - <param name="zero_altitude" value="True"/> - <param name="publish_filtered_gps" value="true"/> - <param name="broadcast_utm_transform" value="false"/> - <param name="wait_for_datum" value="false"/> - <rosparam param="datum">[0.0, 0.0, 0.0]</rosparam> - <param name="use_odometry_yaw" value="false"/> - <param name="broadcast_utm_transform_as_parent_frame" value="false"/> - <param name="trasnform_timeout" value="0.1"/> - <remap from="/imu/data" to="/$(arg name)/imu_enu" /> - <remap from="/gps/fix" to="/$(arg name)/gps_fix" /> - <remap from="/odometry/filtered" to="/$(arg name)/global_odom_combined" /> - <remap from="/odometry/gps" to="/$(arg name)/gps_odometry" /> - </node> - --> - </launch> diff --git a/launch/nav_map.launch b/launch/nav_map.launch index bf13f468a506f02561c06890d7b7471f32369900..a23c6fe17ef1dfa6c3b0a21671e7544e39eb7ec1 100644 --- a/launch/nav_map.launch +++ b/launch/nav_map.launch @@ -3,30 +3,23 @@ <launch> <arg name="name" default="model_car"/> - <arg name="params_path" default="$(find iri_model_car_rosnav)/params"/> + <arg name="output" default="screen" /> + <arg name="launch_prefix" default="" /> <arg name="move_base_params" default="move_base_params.yaml"/> <arg name="costmap_common_params" default="common_params.yaml"/> <arg name="costmap_local_params" default="local_params.yaml"/> <arg name="costmap_global_params" default="global_params.yaml"/> - <arg name="local_planner" default="ackermann"/> - <arg name="global_planner" default="sbpl"/> - <arg name="odom_topic" default="/$(arg name)/odom_combined_local"/> - <arg name="cmd_vel_topic" default="/$(arg name)/navigation/cmd_vel"/> - <arg name="map_path" default="$(find iri_maps)/map"/> + <arg name="map_path" default="$(find iri_model_car_rosnav)/maps"/> <arg name="map_name" default="empty" /> - <arg name="amcl_config" default="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/> <arg name="initial_x" default="0.0"/> <arg name="initial_y" default="0.0"/> <arg name="initial_yaw" default="0.0"/> - <arg name="output" default="screen" /> - <arg name="launch_prefix" default="" /> - - <arg name="opendrive_file_path" default="$(find iri_model_car_rosnav)"/> - <arg name="opendrive_file_name" default="adc_road"/> + <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/> + <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/global_ekf_odom_imu_amcl.yaml"/> <include file="$(find iri_rosnav)/launch/nav.launch"> <arg name="ns" value="$(arg name)"/> - <arg name="path" value="$(arg params_path)"/> + <arg name="path" value="$(find iri_model_car_rosnav)/params"/> <arg name="move_base_params" value="$(arg move_base_params)"/> <arg name="costmap_common_params" value="$(arg costmap_common_params)"/> <arg name="costmap_local_params" value="$(arg costmap_local_params)"/> @@ -36,32 +29,33 @@ <arg name="base_frame_id" value="$(arg name)/base_footprint"/> <arg name="map_topic" value="/$(arg name)/map"/> <arg name="map_service" value="/$(arg name)/static_map"/> - <arg name="odom_topic" value="$(arg odom_topic)"/> - <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/> + <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/> + <arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/> <arg name="scan_topic" value="/$(arg name)/sensors/scan"/> <arg name="use_map" value="true"/> <arg name="use_map_server" value="true"/> <arg name="map_path" value="$(arg map_path)"/> <arg name="map_name" value="$(arg map_name)"/> <arg name="use_amcl" value="true"/> - <arg name="amcl_config" value="$(arg amcl_config)"/> + <arg name="amcl_config" value="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/> <arg name="initial_x" value="$(arg initial_x)"/> <arg name="initial_y" value="$(arg initial_y)"/> <arg name="initial_yaw" value="$(arg initial_yaw)"/> <arg name="use_fake_loc" value="false"/> <arg name="use_gmapping" value="false"/> - <arg name="local_planner" value="$(arg local_planner)"/> - <arg name="global_planner" value="$(arg global_planner)"/> + <arg name="local_planner" value="ackermann"/> + <arg name="global_planner" value="sbpl"/> <arg name="output" value="$(arg output)" /> <arg name="launch_prefix" value="$(arg launch_prefix)" /> </include> - <group if="$(eval global_planner == 'sbpl')"> - <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" /> - </group> + <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch"> + <arg name="name" value="$(arg name)"/> + <arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/> + <arg name="global_ekf_config_file" value="$(arg global_ekf_config_file)"/> + <arg name="global_loc" value="true"/> + </include> - <group if="$(eval global_planner == 'iri_opendrive')"> - <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" /> - </group> + <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" /> </launch> diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch index 956bc4963f2e7dfad7ad09c6427572c27d2f73de..b476138061d875541b0318bcd685fb530fb916a7 100644 --- a/launch/nav_mapping.launch +++ b/launch/nav_mapping.launch @@ -7,16 +7,11 @@ <arg name="costmap_common_params" default="common_params.yaml"/> <arg name="costmap_local_params" default="local_params.yaml"/> <arg name="costmap_global_params" default="global_params.yaml"/> - <arg name="odom_topic" default="/$(arg name)/odom"/> <arg name="map_frame_id" default="map"/> - <arg name="resolution" default="0.01"/> - <arg name="local_planner" default="ackermann"/> - <arg name="global_planner" default="iri_opendrive"/> + <arg name="resolution" default="0.05"/> <arg name="output" default="screen" /> <arg name="launch_prefix" default="" /> - - <arg name="opendrive_file_path" default="$(find iri_model_car_rosnav)"/> - <arg name="opendrive_file_name" default="adc_road"/> + <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/> <include file="$(find iri_rosnav)/launch/nav.launch"> <arg name="ns" value="$(arg name)"/> @@ -30,8 +25,8 @@ <arg name="base_frame_id" value="$(arg name)/base_footprint"/> <arg name="map_topic" value="/$(arg name)/map"/> <arg name="map_service" value="/$(arg name)/static_map"/> - <arg name="odom_topic" value="$(arg odom_topic)"/> - <arg name="cmd_vel_topic" value="/$(arg name)/cmd_vel"/> + <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/> + <arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/> <arg name="scan_topic" value="/$(arg name)/sensors/scan"/> <arg name="use_map" value="true"/> <arg name="use_map_server" value="false"/> @@ -42,18 +37,19 @@ <arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/> <arg name="gmapping_config" value="$(find iri_model_car_rosnav)/params/gmapping.yaml"/> <arg name="resolution" value="$(arg resolution)"/> - <arg name="local_planner" value="$(arg local_planner)"/> - <arg name="global_planner" value="$(arg global_planner)"/> + <arg name="local_planner" value="ackermann"/> + <arg name="global_planner" value="sbpl"/> <arg name="output" value="$(arg output)" /> <arg name="launch_prefix" value="$(arg launch_prefix)" /> </include> - <group if="$(eval global_planner == 'sbpl')"> - <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" /> - </group> + <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch"> + <arg name="name" value="$(arg name)"/> + <arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/> + <arg name="global_loc" value="false"/> + </include> + + <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" /> - <group if="$(eval global_planner == 'iri_opendrive')"> - <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" /> - </group> </launch> diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch index a29846d7cb1fb89c268f5620fc8871fbb2096e93..8a880a54643bf87551f4f28a38e55d6c9d129144 100644 --- a/launch/nav_nomap.launch +++ b/launch/nav_nomap.launch @@ -3,15 +3,13 @@ <launch> <arg name="name" default="model_car"/> + <arg name="output" default="screen" /> + <arg name="launch_prefix" default="" /> <arg name="move_base_params" default="move_base_params.yaml"/> <arg name="costmap_common_params" default="common_params.yaml"/> <arg name="costmap_local_params" default="local_params.yaml"/> <arg name="costmap_global_params" default="global_params.yaml"/> - <arg name="local_planner" default="ackermann"/> - <arg name="global_planner" default="sbpl"/> - <arg name="odom_topic" default="/$(arg name)/odom"/> - <arg name="output" default="screen" /> - <arg name="launch_prefix" default="" /> + <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/> <include file="$(find iri_rosnav)/launch/nav.launch"> <arg name="ns" value="$(arg name)"/> @@ -25,8 +23,8 @@ <arg name="base_frame_id" value="$(arg name)/base_footprint"/> <arg name="map_topic" value="/$(arg name)/map"/> <arg name="map_service" value="/$(arg name)/static_map"/> - <arg name="odom_topic" value="$(arg odom_topic)"/> - <arg name="cmd_vel_topic" value="/$(arg name)/cmd_vel"/> + <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/> + <arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/> <arg name="scan_topic" value="/$(arg name)/sensors/scan"/> <arg name="use_map" value="false"/> <arg name="use_map_server" value="false"/> @@ -34,18 +32,18 @@ <arg name="use_amcl" value="false"/> <arg name="use_fake_loc" value="false"/> <arg name="use_gmapping" value="false"/> - <arg name="local_planner" value="$(arg local_planner)"/> - <arg name="global_planner" value="$(arg global_planner)"/> + <arg name="local_planner" value="ackermann"/> + <arg name="global_planner" value="sbpl"/> <arg name="output" value="$(arg output)" /> <arg name="launch_prefix" value="$(arg launch_prefix)" /> </include> - <group if="$(eval global_planner == 'sbpl')"> - <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" /> - </group> + <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch"> + <arg name="name" value="$(arg name)"/> + <arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/> + <arg name="global_loc" value="false"/> + </include> - <group if="$(eval global_planner == 'iri_opendrive')"> - <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" /> - </group> + <param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" /> </launch> diff --git a/params/gmapping.yaml b/params/gmapping.yaml index e9c495879e03edeb158d429e87f9b0a9cf030340..421e30c489c0c6e31389508a2fd53585669cb716 100644 --- a/params/gmapping.yaml +++ b/params/gmapping.yaml @@ -8,12 +8,12 @@ iterations: 10 lsigma: 0.075 ogain: 3.0 lskip: 0 -minimumScore: 50 +minimumScore: 0 srr: 0.001 srt: 0.002 str: 0.001 stt: 0.002 -linearUpdate: 0.2 +linearUpdate: 0.05 angularUpdate: 0.1 temporalUpdate: -1.0 resampleThreshold: 0.5 @@ -24,7 +24,7 @@ ymin: -5.0 xmax: 5.0 ymax: 5.0 -delta: 0.01 +delta: 0.05 llsamplerange: 0.01 llsamplestep: 0.01 lasamplerange: 0.005 diff --git a/params/local_planner/ackermann_params.yaml b/params/local_planner/ackermann_params.yaml index 1aa1eeae513e55e06fc485653f943102f2faf192..46cc01c82005b80c5f1f8bc756eec0b31ae7b911 100644 --- a/params/local_planner/ackermann_params.yaml +++ b/params/local_planner/ackermann_params.yaml @@ -23,7 +23,7 @@ AckermannPlannerROS: steer_angle_samples: 21 prune_plan: true - xy_goal_tolerance: 0.25 + xy_goal_tolerance: 0.1 yaw_goal_tolerance: 0.5 trans_stopped_vel: 0.1 rot_stopped_vel: 0.1 @@ -31,7 +31,7 @@ AckermannPlannerROS: restore_defaults: false max_trans_vel: 1.0 - min_trans_vel: 0.0 + min_trans_vel: -1.0 max_trans_acc: 0.2 max_steer_angle: 0.4 min_steer_angle: -0.4 @@ -42,7 +42,7 @@ AckermannPlannerROS: wheel_distance: 0.216 wheel_radius: 0.05 - split_ignore_lenght: 0.1 + split_ignore_length: 0.1 cmd_vel_avg: 1 odom_avg: 1 diff --git a/params/local_planner/ackermann_sbpl_params.yaml b/params/local_planner/ackermann_sbpl_params.yaml deleted file mode 100644 index 7826af5700280e05b9a4080c49bcb10193ea16ae..0000000000000000000000000000000000000000 --- a/params/local_planner/ackermann_sbpl_params.yaml +++ /dev/null @@ -1,53 +0,0 @@ -base_local_planner: "AckermannPlannerROS" - -AckermannPlannerROS: - max_sim_time: 3.0 - min_sim_time: 1.0 - sim_granularity: 0.2 - angular_sim_granularity: 0.02 - - path_distance_bias: 50.0 - goal_distance_bias: 10.0 - occdist_scale: 0.05 - -# stop_time_buffer: - oscillation_reset_dist: 0.002 - oscillation_reset_angle: 0.001 - -# forward_point_distance: - -# scaling_speed: -# max_scaling_factor: - - trans_vel_samples: 31 - steer_angle_samples: 21 - - prune_plan: true - xy_goal_tolerance: 0.25 - yaw_goal_tolerance: 0.5 - trans_stopped_vel: 0.1 - rot_stopped_vel: 0.1 - - restore_defaults: false - - max_trans_vel: 1.0 - min_trans_vel: -1.0 - max_trans_acc: 0.2 - max_steer_angle: 0.4 - min_steer_angle: -0.4 - max_steer_vel: 0.3 - min_steer_vel: -0.3 - max_steer_acc: 1.0 - axis_distance: 0.3662 - wheel_distance: 0.216 - wheel_radius: 0.05 - - split_ignore_length: 0.1 - - cmd_vel_avg: 1 - odom_avg: 1 - - planner_patience: 5 - - hdiff_scale: 0.5 - heading_points: 8 diff --git a/rviz/model_car_gmapping.rviz b/rviz/model_car_gmapping.rviz index 96f5b49ba82ca9228146496bd150ac3ad1722b22..8a97e6e027e54376b180be0ef6705b0b5bd0ee94 100644 --- a/rviz/model_car_gmapping.rviz +++ b/rviz/model_car_gmapping.rviz @@ -8,10 +8,9 @@ Panels: - /CircuitModels1/RoadModel1 - /CircuitModels1/stopModel1 - /Sensors1 - - /Sensors1/GroundTruthOdometry1 - /Sensors1/GroundTruthOdometry1/Shape1 - - /Sensors1/EKFOdometry1 - - /Sensors1/EKFOdometry1/Shape1 + - /Sensors1/OdometryFused1 + - /Sensors1/OdometryFused1/Shape1 - /Sensors1/Odometry1/Shape1 - /global_planner1/global_plan1 Splitter Ratio: 0.625 @@ -384,7 +383,7 @@ Visualization Manager: Topic: /model_car/odom_ground_truth Unreliable: false Value: true - - Angle Tolerance: 0.10000000149011612 + - Angle Tolerance: 0.5 Class: rviz/Odometry Covariance: Orientation: @@ -403,13 +402,13 @@ Visualization Manager: Value: false Enabled: true Keep: 100 - Name: EKFOdometry - Position Tolerance: 0.10000000149011612 + Name: OdometryFused + Position Tolerance: 0.5 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 - Color: 143; 89; 2 + Color: 252; 233; 79 Head Length: 0.10000000149011612 Head Radius: 0.05000000074505806 Shaft Length: 0.4000000059604645 diff --git a/rviz/model_car_no_map.rviz b/rviz/model_car_map_ekf.rviz similarity index 83% rename from rviz/model_car_no_map.rviz rename to rviz/model_car_map_ekf.rviz index a1b2a888823d5079c8abc7b2d3cf815d2b8b7c2d..f1336196a03b1d5701db0a57e1198b8a83b0754c 100644 --- a/rviz/model_car_no_map.rviz +++ b/rviz/model_car_map_ekf.rviz @@ -5,12 +5,10 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /RobotModel1 - /Sensors1 - /Sensors1/GroundTruthOdometry1/Shape1 - /Sensors1/Odometry1/Shape1 - - /local_planner1 - - /global_planner1 + - /global_planner1/global_plan1/Status1 Splitter Ratio: 0.625 Tree Height: 794 - Class: rviz/Selection @@ -174,140 +172,18 @@ Visualization Manager: - Alpha: 1 Class: rviz/RobotModel Collision Enabled: false - Enabled: true + Enabled: false 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 + Value: false Visual Enabled: true - Class: rviz/Group Displays: @@ -345,6 +221,40 @@ Visualization Manager: Topic: /model_car/odom_ground_truth Unreliable: false Value: true + - Angle Tolerance: 0.5 + 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: 100 + Name: OdometryFused + Position Tolerance: 0.5 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 252; 233; 79 + Head Length: 0.10000000149011612 + Head Radius: 0.05000000074505806 + Shaft Length: 0.4000000059604645 + Shaft Radius: 0.02500000037252903 + Value: Arrow + Topic: /model_car/local_odom_combined + Unreliable: false + Value: true - Angle Tolerance: 0.5 Class: rviz/Odometry Covariance: @@ -603,6 +513,16 @@ Visualization Manager: Topic: /model_car/move_base/global_costmap/footprint Unreliable: false Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: amcl_map + Topic: /model_car/map + Unreliable: false + Use Timestamp: false + Value: true Enabled: true Global Options: Background Color: 26; 26; 26 @@ -631,16 +551,16 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 29.392362594604492 + Distance: 11.253925323486328 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 2.802766799926758 - Y: 0.24340493977069855 - Z: 0.3304859399795532 + X: 3.3934614658355713 + Y: 0.5182212591171265 + Z: 0.33107441663742065 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false @@ -649,7 +569,7 @@ Visualization Manager: Pitch: 1.5697963237762451 Target Frame: base_link Value: Orbit (rviz) - Yaw: 3.1353960037231445 + Yaw: 3.1303958892822266 Saved: ~ Window Geometry: Displays: @@ -657,7 +577,7 @@ Window Geometry: Height: 1025 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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 + QMainWindow State: 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 Selection: collapsed: false Time: diff --git a/rviz/model_car_opendrive.rviz b/rviz/model_car_opendrive.rviz deleted file mode 100644 index 4151b7fc4574e705e3ec32ec1e3c85b6150a7d27..0000000000000000000000000000000000000000 --- a/rviz/model_car_opendrive.rviz +++ /dev/null @@ -1,731 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 80 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /RobotModel1 - - /CircuitModels1/RoadModel1 - - /CircuitModels1/stopModel1 - - /Sensors1 - - /Sensors1/GroundTruthOdometry1/Shape1 - - /Sensors1/Odometry1/Shape1 - - /local_planner1 - - /global_planner1 - - /global_planner1/global_plan1 - Splitter Ratio: 0.625 - Tree Height: 794 - - 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: rear_camera_Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.10000000149011612 - 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: 0.5 - Y: 0.5 - Z: 0.009999999776482582 - Plane: XY - Plane Cell Count: 20 - Reference Frame: <Fixed Frame> - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - adc_road_big_base_link: - Value: true - adc_road_big_image: - Value: 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: false - Show Axes: true - Show Names: true - Tree: - map: - adc_road_big_base_link: - adc_road_big_image: - {} - 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 - - 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/Group - Displays: - - Alpha: 0.8999999761581421 - 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 - adc_road_big_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - adc_road_big_image: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RoadModel - Robot Description: road_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - 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 - Name: stopModel - Robot Description: stop_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Name: CircuitModels - - Class: rviz/Group - Displays: - - Angle Tolerance: 0.5 - 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: 1000 - Name: GroundTruthOdometry - Position Tolerance: 0.5 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 0; 255; 255 - Head Length: 0.10000000149011612 - Head Radius: 0.05000000074505806 - Shaft Length: 0.4000000059604645 - Shaft Radius: 0.02500000037252903 - Value: Arrow - Topic: /model_car/odom_ground_truth - Unreliable: false - Value: true - - Angle Tolerance: 0.5 - 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: 100 - Name: Odometry - Position Tolerance: 0.5 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.10000000149011612 - Head Radius: 0.05000000074505806 - Shaft Length: 0.4000000059604645 - Shaft Radius: 0.02500000037252903 - Value: Arrow - Topic: /model_car/odom - Unreliable: false - Value: true - - 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: /model_car/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: /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: rear_right_range - 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: rear_left_range - 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: rear_center_range - Queue Size: 100 - Topic: /model_car/sensors/range/rear_center_sonar - Unreliable: false - Value: true - Enabled: false - Name: Sonars - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: false - History Length: 1 - Name: Imu - Topic: /model_car/sensors/imu_data - Unreliable: false - Value: false - - Class: rviz/Image - Enabled: true - Image Topic: /model_car/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: /model_car/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: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: RP_Lidar - 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 - Enabled: true - Name: Sensors - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 52; 101; 164 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: local_plan - 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 - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 204; 0; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: global_plan - 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/global_plan - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: costmap - Topic: /model_car/move_base/local_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: false - Enabled: true - Name: local_planner - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: global_plan - 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/OpendriveGlobalPlanner/plan - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: costmap - Topic: /model_car/move_base/global_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: false - Enabled: true - Name: global_planner - - Alpha: 1 - Class: rviz/Polygon - Color: 25; 255; 0 - Enabled: true - Name: footprint - Topic: /model_car/move_base/global_costmap/footprint - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 26; 26; 26 - Default Light: true - Fixed Frame: model_car/odom - 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: 19.688234329223633 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 2.802766799926758 - Y: 0.24340493977069855 - Z: 0.3304859399795532 - Focal Shape Fixed Size: false - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5697963237762451 - Target Frame: base_link - Value: Orbit (rviz) - Yaw: 3.1353960037231445 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1025 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1853 - X: 67 - Y: 27 - front_camera_Image: - collapsed: false - rear_camera_Image: - collapsed: false diff --git a/rviz/model_car_opendrive_ekf.rviz b/rviz/model_car_opendrive_ekf.rviz deleted file mode 100644 index b1e7e0e94a82d21adca31d6c67a1a4fab29d87b1..0000000000000000000000000000000000000000 --- a/rviz/model_car_opendrive_ekf.rviz +++ /dev/null @@ -1,532 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 80 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /CircuitModels1 - - /CircuitModels1/RoadModel1 - - /Sensors1 - - /Sensors1/GroundTruthOdometry1/Shape1 - - /Sensors1/EKFOdometry1 - - /Sensors1/EKFOdometry1/Shape1 - - /Sensors1/Odometry1/Shape1 - - /local_planner1 - - /local_planner1/local_plan1 - - /local_planner1/global_plan1 - - /global_planner1 - Splitter Ratio: 0.625 - Tree Height: 794 - - 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: rear_camera_Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.10000000149011612 - 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: 0.5 - Y: 0.5 - Z: 0.009999999776482582 - Plane: XY - Plane Cell Count: 20 - Reference Frame: <Fixed Frame> - Value: 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 - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - Name: RobotModel - Robot Description: model_car/robot_description - TF Prefix: model_car - Update Interval: 0 - Value: false - Visual Enabled: true - - Class: rviz/Group - Displays: - - Alpha: 0.5 - 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 - adc_road_big_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - adc_road_big_image: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RoadModel - Robot Description: road_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Name: CircuitModels - - Class: rviz/Group - Displays: - - Angle Tolerance: 0.5 - 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: 1000 - Name: GroundTruthOdometry - Position Tolerance: 0.5 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 0; 255; 255 - Head Length: 0.10000000149011612 - Head Radius: 0.05000000074505806 - Shaft Length: 0.4000000059604645 - Shaft Radius: 0.02500000037252903 - Value: Arrow - Topic: /model_car/odom_ground_truth - Unreliable: false - Value: true - - Angle Tolerance: 0.5 - 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: 100 - Name: EKFOdometry - Position Tolerance: 0.5 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 143; 89; 2 - Head Length: 0.10000000149011612 - Head Radius: 0.05000000074505806 - Shaft Length: 0.4000000059604645 - Shaft Radius: 0.02500000037252903 - Value: Arrow - Topic: /model_car/local_odom_combined - Unreliable: false - Value: true - - Angle Tolerance: 0.5 - 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: 100 - Name: Odometry - Position Tolerance: 0.5 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.10000000149011612 - Head Radius: 0.05000000074505806 - Shaft Length: 0.4000000059604645 - Shaft Radius: 0.02500000037252903 - Value: Arrow - Topic: /model_car/odom - Unreliable: false - Value: true - - 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: /model_car/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: /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: rear_right_range - 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: rear_left_range - 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: rear_center_range - Queue Size: 100 - Topic: /model_car/sensors/range/rear_center_sonar - Unreliable: false - Value: true - Enabled: false - Name: Sonars - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: false - History Length: 1 - Name: Imu - Topic: /model_car/sensors/imu_data - Unreliable: false - Value: false - - Class: rviz/Image - Enabled: true - Image Topic: /model_car/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: /model_car/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: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: RP_Lidar - 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 - Enabled: true - Name: Sensors - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 52; 101; 164 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: local_plan - 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 - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 204; 0; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: global_plan - 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/global_plan - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: costmap - Topic: /model_car/move_base/local_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: false - Enabled: true - Name: local_planner - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: global_plan - 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/OpendriveGlobalPlanner/plan - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: costmap - Topic: /model_car/move_base/global_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: false - Enabled: true - Name: global_planner - - Alpha: 1 - Class: rviz/Polygon - Color: 25; 255; 0 - Enabled: true - Name: footprint - Topic: /model_car/move_base/global_costmap/footprint - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: amcl_map - Topic: /model_car/map - Unreliable: false - Use Timestamp: false - Value: true - Enabled: true - Global Options: - Background Color: 26; 26; 26 - 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: 8.511842727661133 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 6.138265609741211 - Y: 4.300174236297607 - Z: 0.3337762653827667 - Focal Shape Fixed Size: false - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5697963237762451 - Target Frame: base_link - Value: Orbit (rviz) - Yaw: 3.1303958892822266 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1025 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1853 - X: 67 - Y: 27 - front_camera_Image: - collapsed: false - rear_camera_Image: - collapsed: false