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Commit 80a0bc29 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Fixed some bugs on parameters and launch files

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config/params.yaml
+ 1
− 1
View file @ 80a0bc29
rate: 240
fixed_frame: imu_bno055
fixed_frame: base_link
tf_timeout: 0.2
err_msg_rate: 0.5
collision_transition_counter_en: True
......
launch/collsions.launch → launch/collisions.launch
+ 2
− 2
View file @ 80a0bc29
......@@ -25,8 +25,8 @@
<!-- Collision manager parameters -->
<arg name="collision_config_file" default="$(find iri_collision_manager)/config/params.yaml"/>
<arg name="front_laser_topic" default="/front_laser_scan"/>
<arg name="rear_laser_topic" default="/rear_laser_scan"/>
<arg name="front_laser_topic" default="/front_laser/scan"/>
<arg name="rear_laser_topic" default="/rear_laser/scan"/>
<include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch"
if="$(arg imu_driver)">
......
rviz/dogs.rviz
+ 301
− 176
View file @ 80a0bc29
......@@ -6,7 +6,11 @@ Panels:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5058823823928833
- /TF1
- /LandmarksRobotPose1/Covariance1
- /LandmarksRobotPose1/Covariance1/Position1
- /LandmarksRobotPose1/Covariance1/Orientation1
Splitter Ratio: 0.5
Tree Height: 728
- Class: rviz/Selection
Name: Selection
......@@ -26,7 +30,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
......@@ -34,6 +38,30 @@ Toolbars:
Visualization Manager:
Class: ""
Displays:
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
......@@ -52,134 +80,118 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
- 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: 239; 41; 41
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
helena/base_footprint:
Value: false
helena/base_link:
Value: true
helena/camera_bottom_screw_frame:
Value: false
helena/camera_color_frame:
Value: false
helena/camera_color_optical_frame:
Value: false
helena/camera_depth_frame:
Value: false
helena/camera_depth_optical_frame:
Value: false
helena/camera_infra1_frame:
Value: false
helena/camera_infra1_optical_frame:
Value: false
helena/camera_infra2_frame:
Value: false
helena/camera_infra2_optical_frame:
Value: false
helena/camera_link:
Value: false
helena/front_left_axle:
Value: false
helena/front_left_hub:
Value: false
helena/front_left_wheel:
Value: false
helena/front_right_axle:
Value: false
helena/front_right_hub:
Value: false
helena/front_right_wheel:
Value: false
helena/front_sonar:
Value: false
helena/helena_box:
Value: false
helena/helena_realsense_support:
Value: false
helena/imu_bno055:
Value: true
helena/imu_bno055_base:
Value: false
helena/odom:
Value: true
helena/rear_left_axle:
Value: false
helena/rear_left_hub:
Value: false
helena/rear_left_wheel:
Value: false
helena/rear_right_axle:
Value: false
helena/rear_right_hub:
Value: false
helena/rear_right_wheel:
Value: false
helena/rear_sonar:
Value: false
helena/robosense:
Value: false
helena/robosense_base:
Value: false
helena/top_plate:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
helena/odom:
helena/base_footprint:
helena/base_link:
helena/front_left_axle:
helena/front_left_hub:
helena/front_left_wheel:
{}
helena/front_right_axle:
helena/front_right_hub:
helena/front_right_wheel:
{}
helena/front_sonar:
{}
helena/rear_left_axle:
helena/rear_left_hub:
helena/rear_left_wheel:
{}
helena/rear_right_axle:
helena/rear_right_hub:
helena/rear_right_wheel:
{}
helena/rear_sonar:
{}
helena/top_plate:
helena/helena_box:
{}
helena/helena_realsense_support:
helena/camera_bottom_screw_frame:
helena/camera_link:
helena/camera_color_frame:
helena/camera_color_optical_frame:
{}
helena/camera_depth_frame:
helena/camera_depth_optical_frame:
{}
helena/camera_infra1_frame:
helena/camera_infra1_optical_frame:
{}
helena/camera_infra2_frame:
helena/camera_infra2_optical_frame:
{}
helena/robosense_base:
helena/robosense:
{}
helena/imu_bno055_base:
helena/imu_bno055:
{}
Update Interval: 0
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: FrontLaser
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /laser_front/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0
Min Value: 0
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 252; 233; 79
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: RearLaser
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /laser_rear/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: 115; 210; 22
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: GlobalScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.009999999776482582
Style: Points
Topic: /scan_global
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: GlobalScanPCL
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /gobal_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
......@@ -197,10 +209,10 @@ Visualization Manager:
Scale: 1
Value: true
Value: true
Enabled: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Position Tolerance: 0.5
Shape:
Alpha: 1
Axes Length: 1
......@@ -211,51 +223,169 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /helena/odom
Topic: /odom
Unreliable: false
Value: false
- Alpha: 0.5
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 252; 233; 79
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
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: amclPose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /amcl_pose
Unreliable: false
Value: true
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: false
History Length: 1
Name: Imu
Topic: /helena/sensors/bno055_imu/imu
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rviz_markers
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_landmarks_tracker/local_features
Name: Features
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_landmarks_tracker/global_features
Name: landmarks
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_landmarks_tracker/frame_data
Name: Frames
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 0.5
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.5
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 138; 226; 52
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /helena/sensors/scan
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: LandmarksRobotPose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /iri_landmarks_tracker/landmarks_localization_pose
Unreliable: false
Value: true
- Alpha: 0.5
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 78; 154; 6
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
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: FusedPose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /iri_localization_fusion/fused_pose
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_localization_fusion/fusion_traj_vis
Name: Trajectories
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: Imu
Topic: /bno055_imu/imu
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: helena/odom
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
......@@ -278,34 +408,29 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 25.189504623413086
Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.3301063776016235
Y: -0.2307669073343277
Z: -2.2700793743133545
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.5953969955444336
Scale: 48.28645324707031
Target Frame: base_link
Value: TopDownOrtho (rviz)
X: 0.663458526134491
Y: -0.6147326827049255
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......@@ -313,7 +438,7 @@ Window Geometry:
Tool Properties:
collapsed: false
Views:
collapsed: false
collapsed: true
Width: 1853
X: 67
Y: 27
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