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Commit 50586053 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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remaping of topics

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with 1204 additions and 184 deletions
<!-- -->
<launch>
<param name="use_sim_time" value="true" />
<arg name="record" default="true" />
<arg name="rviz" default="true" />
<arg name="speed" default="1" />
......@@ -13,47 +12,71 @@
<arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
<arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
<arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
<!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
<arg name="robot" default="ana" /> <!-- ana or helena -->
<node pkg="rostopic" type="rostopic" name="" args='pub /helena/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/>
<node pkg="rostopic" type="rostopic" name="" args='pub /imu_bno/enable std_msgs/Bool "data: True"'/>
<node pkg="rostopic" type="rostopic" name="" args='pub /imu_micro/enable std_msgs/Bool "data: True"'/>
<!-- RECORD -->
<group if="$(arg record)">
<node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/recordings/trajectory_recording$(arg suffix).bag "/wolf_ros_node/trajectory" "/wolf_ros_node/pose_pose_with_cov"'/>
<node pkg="rosbag"
type="record"
name="recorder"
args='record -O $(find wolf_demo_imu2d)/bag/recordings/trajectory_recording$(arg suffix).bag "/wolf_ros_node/trajectory" "/wolf_ros_node/pose_pose_with_cov"'/>
</group>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf"
args="0 0 0 0 0 0 /ana/base_footprint /ana/base_link 100"/>
<!-- TF -->
<group>
<!-- <node pkg="tf"
type="static_transform_publisher"
name="static_tf"
args="0 0 0 0 0 0 /base_footprint /base_link 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf2"
args="0 0 0 0 0 0 /ana/base_link /ana/imu_bno055 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf2"
args="0 0 0 0 0 0 /base_link /imu_bno055 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf3"
args="0 0 0 3.14159265 0 0 /ana/base_link /ana/velodyne 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf3"
args="0 0 0 3.14159265 0 0 /base_link /velodyne 100"/> -->
<node pkg="tf"
type="static_transform_publisher"
name="static_tf4"
args="-0.11 0.01 0 0 0 0 /ana/base_link /ana/imu_microstrain 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf4"
args="-0.11 0.01 0 0 0 0 /$(arg robot)/base_link /imu 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf5"
args="-0.11 0.01 0 0 0 0 /$(arg robot)/base_link /$(arg robot)/imu_microstrain 100"/>
</group>
<!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
<param name="use_sim_time" value="true" />
<node pkg="rosbag"
type="play"
name="player"
required="true"
args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag"/>
args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag">
<remap from="/$(arg robot)/sensors/imu/data" to="/imu_micro"/>
<remap from="/$(arg robot)/imu/data" to="/imu_micro"/>
<remap from="/$(arg robot)/sensors/bno055/imu" to="/imu_bno"/>
<remap from="/$(arg robot)/sensors/scan" to="/scan"/>
<remap from="/$(arg robot)/odom" to="/odom"/>
<remap from="/$(arg robot)/sensors/ublox_gps/raw_data_stream" to="/ublox_gps/raw_data_stream"/>
</node>
<!-- RVIZ -->
<group if="$(arg rviz)">
<node type="rviz"
name="rviz"
pkg="rviz"
args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/>
args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo_$(arg robot).rviz"/>
</group>
<!-- WOLF -->
<node type="wolf_ros_node"
name="wolf_ros_node"
pkg="wolf_ros_node"
......
......@@ -5,7 +5,6 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
......@@ -17,9 +16,8 @@ Panels:
- /Trajectory1/Namespaces1
- /Axes1
- /PointCloud21
- /Imu1
Splitter Ratio: 0.5285326242446899
Tree Height: 728
Splitter Ratio: 0.708737850189209
Tree Height: 839
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -38,7 +36,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
......@@ -69,22 +67,79 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
ana/base_footprint:
helena/base_footprint:
Value: false
ana/base_footprint_robot:
Value: false
ana/base_link:
helena/base_link:
Value: true
ana/imu_bno055:
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
ana/imu_microstrain:
helena/front_left_hub:
Value: false
ana/odom:
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: false
helena/imu_bno055_base:
Value: false
helena/odom:
Value: true
ana/velodyne:
helena/rear_left_axle:
Value: false
map:
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
imu:
Value: true
map:
Value: true
Marker Alpha: 1
Marker Scale: 5
Name: TF
Show Arrows: false
......@@ -92,17 +147,55 @@ Visualization Manager:
Show Names: true
Tree:
map:
ana/odom:
ana/base_footprint:
ana/base_link:
ana/imu_bno055:
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:
{}
ana/imu_microstrain:
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:
{}
imu:
{}
ana/velodyne:
helena/imu_bno055_base:
helena/imu_bno055:
{}
ana/base_footprint_robot:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
......@@ -126,6 +219,7 @@ Visualization Manager:
Keep: 300
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
......@@ -151,7 +245,7 @@ Visualization Manager:
Color: 250; 84; 255
Color Transformer: FlatColor
Decay Time: 10
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
......@@ -162,11 +256,11 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
Topic: /ana/sensors/scan
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_landmarks
......@@ -180,35 +274,26 @@ Visualization Manager:
Marker Topic: /wolf_ros_node/graph_factors
Name: Factors
Namespaces:
factors_processorimu2dbno: true
factors_processorimu2dmicro: true
factors_processorloopclosureicp: true
factors_processorodom2d: true
factors_processorodomicp: true
factors_text_processorimu2dbno: false
factors_text_processorimu2dmicro: false
factors_text_processorloopclosureicp: false
factors_text_processorodom2d: false
factors_text_processorodomicp: false
factors_text_unnamed_processor: false
factors_unnamed_processor: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Enabled: false
Marker Topic: /wolf_ros_node/graph_trajectory
Name: Trajectory
Namespaces:
frames: false
frames_text: false
{}
Queue Size: 100
Value: true
- Class: rviz/Axes
Value: false
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: ana/base_link
Reference Frame: helena/base_link
Show Trail: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
......@@ -254,7 +339,8 @@ Visualization Manager:
Enabled: true
History Length: 1
Name: Imu
Topic: /ana/imu/data_remapped
Queue Size: 10
Topic: /imu_micro
Unreliable: false
Value: true
Enabled: true
......@@ -285,12 +371,13 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 27.63036346435547
Distance: 29.216249465942383
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 2.3574845790863037
Y: -1.3090972900390625
......@@ -300,10 +387,9 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7247968912124634
Pitch: 0.5097973346710205
Target Frame: map
Value: Orbit (rviz)
Yaw: 5.4131693840026855
Yaw: 4.688166618347168
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
......@@ -317,7 +403,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 64.65961456298828
Target Frame: map
Value: TopDownOrtho (rviz)
X: 8.825014114379883
Y: -0.17566636204719543
- Angle: 0
......@@ -332,7 +417,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 50.07240295410156
Target Frame: map
Value: TopDownOrtho (rviz)
X: 1.947830080986023
Y: 3.9687037467956543
- Angle: -1.5700000524520874
......@@ -347,16 +431,15 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 42.187442779541016
Target Frame: map
Value: TopDownOrtho (rviz)
X: 1.9746785163879395
Y: 4.48727560043335
Window Geometry:
Displays:
collapsed: false
Height: 1025
Height: 1136
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000002e200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004550000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......@@ -365,6 +448,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1853
X: 67
Width: 1858
X: 62
Y: 27
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Status1
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- /Landmarks1
- /Factors1
- /Factors1/Namespaces1
- /Trajectory1
- /Trajectory1/Namespaces1
- /Axes1
- /PointCloud21
Splitter Ratio: 0.708737850189209
Tree Height: 839
- 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: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 5
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
ana/ana_box:
Value: false
ana/ana_realsense_support:
Value: false
ana/base_footprint:
Value: false
ana/base_footprint_robot:
Value: false
ana/base_link:
Value: true
ana/camera_aligned_depth_to_color_frame:
Value: false
ana/camera_aligned_depth_to_infra1_frame:
Value: false
ana/camera_bottom_screw_frame:
Value: false
ana/camera_color_frame:
Value: false
ana/camera_color_optical_frame:
Value: false
ana/camera_depth_frame:
Value: false
ana/camera_depth_optical_frame:
Value: false
ana/camera_infra1_frame:
Value: false
ana/camera_infra1_optical_frame:
Value: false
ana/camera_infra2_frame:
Value: false
ana/camera_infra2_optical_frame:
Value: false
ana/camera_link:
Value: false
ana/camera_pan_tilt_bottom_screw_frame:
Value: false
ana/camera_pan_tilt_color_frame:
Value: false
ana/camera_pan_tilt_color_optical_frame:
Value: false
ana/camera_pan_tilt_depth_frame:
Value: false
ana/camera_pan_tilt_depth_optical_frame:
Value: false
ana/camera_pan_tilt_infra1_frame:
Value: false
ana/camera_pan_tilt_infra1_optical_frame:
Value: false
ana/camera_pan_tilt_infra2_frame:
Value: false
ana/camera_pan_tilt_infra2_optical_frame:
Value: false
ana/camera_pan_tilt_link:
Value: false
ana/front_left_axle:
Value: false
ana/front_left_hub:
Value: false
ana/front_left_wheel:
Value: false
ana/front_right_axle:
Value: false
ana/front_right_hub:
Value: false
ana/front_right_wheel:
Value: false
ana/front_sonar:
Value: false
ana/imu_bno055:
Value: false
ana/imu_bno055_base:
Value: false
ana/imu_microstrain:
Value: false
ana/odom:
Value: true
ana/pan_frame:
Value: false
ana/realsense_support_pan_tilt:
Value: false
ana/rear_left_axle:
Value: false
ana/rear_left_hub:
Value: false
ana/rear_left_wheel:
Value: false
ana/rear_right_axle:
Value: false
ana/rear_right_hub:
Value: false
ana/rear_right_wheel:
Value: false
ana/rear_sonar:
Value: false
ana/top_plate:
Value: false
ana/velodyne:
Value: false
ana/velodyne_base:
Value: false
camera_accel_frame:
Value: false
camera_accel_optical_frame:
Value: false
camera_gyro_frame:
Value: false
camera_gyro_optical_frame:
Value: false
imu:
Value: false
map:
Value: true
Marker Alpha: 1
Marker Scale: 5
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
map:
ana/odom:
ana/base_footprint:
ana/base_link:
ana/front_left_axle:
ana/front_left_hub:
ana/front_left_wheel:
{}
ana/front_right_axle:
ana/front_right_hub:
ana/front_right_wheel:
{}
ana/front_sonar:
{}
ana/imu_microstrain:
{}
ana/rear_left_axle:
ana/rear_left_hub:
ana/rear_left_wheel:
{}
ana/rear_right_axle:
ana/rear_right_hub:
ana/rear_right_wheel:
{}
ana/rear_sonar:
{}
ana/top_plate:
ana/ana_box:
ana/pan_frame:
{}
ana/ana_realsense_support:
ana/camera_bottom_screw_frame:
ana/camera_link:
ana/camera_aligned_depth_to_color_frame:
{}
ana/camera_aligned_depth_to_infra1_frame:
{}
ana/camera_color_frame:
ana/camera_color_optical_frame:
{}
ana/camera_depth_frame:
ana/camera_depth_optical_frame:
{}
ana/camera_infra1_frame:
ana/camera_infra1_optical_frame:
{}
ana/camera_infra2_frame:
ana/camera_infra2_optical_frame:
{}
camera_accel_frame:
camera_accel_optical_frame:
{}
camera_gyro_frame:
camera_gyro_optical_frame:
{}
ana/velodyne_base:
ana/velodyne:
{}
imu:
{}
ana/imu_bno055_base:
ana/imu_bno055:
{}
ana/base_footprint_robot:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
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: false
Keep: 300
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.10000000149011612
Head Radius: 0.10000000149011612
Shaft Length: 0.30000001192092896
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /ana/odom
Unreliable: false
Value: false
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensities
Class: rviz/LaserScan
Color: 250; 84; 255
Color Transformer: FlatColor
Decay Time: 10
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_landmarks
Name: Landmarks
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /wolf_ros_node/graph_factors
Name: Factors
Namespaces:
factors_processorodomicp: true
factors_text_processorodomicp: false
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_trajectory
Name: Trajectory
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: ana/base_link
Show Trail: false
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/PointCloud2
Color: 0; 170; 0
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 173; 14
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 1
Selectable: false
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Squares
Topic: /wolf_ros_node/map_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic: /wolf_ros_node/map_occgrid
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 0.5
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: Imu
Queue Size: 10
Topic: /imu_micro
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 29.216249465942383
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 2.3574845790863037
Y: -1.3090972900390625
Z: -0.7893345952033997
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5097973346710205
Target Frame: map
Yaw: 4.688166618347168
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: 64.65961456298828
Target Frame: map
X: 8.825014114379883
Y: -0.17566636204719543
- Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: 50.07240295410156
Target Frame: map
X: 1.947830080986023
Y: 3.9687037467956543
- Angle: -1.5700000524520874
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: 42.187442779541016
Target Frame: map
X: 1.9746785163879395
Y: 4.48727560043335
Window Geometry:
Displays:
collapsed: false
Height: 1136
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1858
X: 62
Y: 27
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- /LaserScan1
- /Landmarks1
- /Factors1
- /Factors1/Namespaces1
- /Trajectory1
- /Trajectory1/Namespaces1
- /Axes1
- /PointCloud21
- /Imu1
Splitter Ratio: 0.708737850189209
Tree Height: 839
- 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: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 5
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
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: false
helena/imu_bno055_base:
Value: false
helena/imu_microstrain:
Value: true
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
imu:
Value: true
map:
Value: true
Marker Alpha: 1
Marker Scale: 5
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
map:
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/imu_microstrain:
{}
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:
{}
imu:
{}
helena/imu_bno055_base:
helena/imu_bno055:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
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: false
Keep: 300
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.10000000149011612
Head Radius: 0.10000000149011612
Shaft Length: 0.30000001192092896
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /ana/odom
Unreliable: false
Value: false
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensities
Class: rviz/LaserScan
Color: 250; 84; 255
Color Transformer: FlatColor
Decay Time: 10
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_landmarks
Name: Landmarks
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /wolf_ros_node/graph_factors
Name: Factors
Namespaces:
factors_processorimumicro: true
factors_processorodomicp: true
factors_text_processorimumicro: false
factors_text_processorodomicp: false
factors_text_unnamed_processor: false
factors_unnamed_processor: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_trajectory
Name: Trajectory
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: helena/base_link
Show Trail: false
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/PointCloud2
Color: 0; 170; 0
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 173; 14
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 1
Selectable: false
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Squares
Topic: /wolf_ros_node/map_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic: /wolf_ros_node/map_occgrid
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 0.5
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: Imu
Queue Size: 10
Topic: /imu_micro_remapped
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 32.773921966552734
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 2.3574845790863037
Y: -1.3090972900390625
Z: -0.7893345952033997
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7547971606254578
Target Frame: map
Yaw: 0.05999409034848213
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: 64.65961456298828
Target Frame: map
X: 8.825014114379883
Y: -0.17566636204719543
- Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: 50.07240295410156
Target Frame: map
X: 1.947830080986023
Y: 3.9687037467956543
- Angle: -1.5700000524520874
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: 42.187442779541016
Target Frame: map
X: 1.9746785163879395
Y: 4.48727560043335
Window Geometry:
Displays:
collapsed: false
Height: 1136
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1858
X: 62
Y: 27
......@@ -67,7 +67,7 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/ana/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
......
......@@ -99,24 +99,24 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
topic: "/ana/odom"
topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/ana/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
topic: "/ana/sensors/bno055_imu/imu"
topic: "/imu_bno"
sensor_name: "bno"
follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
topic: "/ana/imu/data"
topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber_microstrain.yaml"
......
config:
debug:
profiling: true
profiling_file: "~/wolf_demo_profiling_imu2d_test0.txt"
profiling_file: "~/wolf_demo_profiling_imu2d_test10.txt"
print_problem: false
print_period: 2
print_depth: 4
......@@ -12,14 +12,6 @@ config:
tree_manager:
type: "none"
frame_structure: "POV"
# dimension: 2
# prior:
# mode: "fix"
# $state:
# P: [0,0]
# O: [0]
# V: [0,0]
# time_tolerance: 0.1
dimension: 3
prior:
mode: "fix"
......@@ -50,32 +42,12 @@ config:
sensor_name: "scanner_front_left"
plugin: "laser"
follow: "test_laser_processor.yaml"
# -
# type: "ProcessorLoopClosureIcp"
# name: "processorloopclosureicp"
# sensor_name: "scanner_front_left"
# plugin: "laser"
# time_tolerance: 0.1
# apply_loss_function: true
# keyframe_vote:
# voting_active: false
# recent_frames_ignored: 3
# frames_ignored_after_loop: 0
# max_error_threshold: 0.02
# min_points_percent: 40
# max_loops: 3
# max_candidates: 5
# max_attempts: 15
# candidate_generation: "random" # 'random' or 'tree'
# icp:
# follow: "csm.yaml"
ROS subscriber:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/ana/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
......
......@@ -12,14 +12,6 @@ config:
tree_manager:
type: "none"
frame_structure: "POV"
# dimension: 2
# prior:
# mode: "fix"
# $state:
# P: [0,0]
# O: [0]
# V: [0,0]
# time_tolerance: 0.1
dimension: 3
prior:
mode: "factor"
......@@ -47,13 +39,13 @@ config:
name: "scanner_front_left"
plugin: "laser"
follow: "test_laser_params.yaml"
-
type: "SensorImu"
name: "bno"
plugin: "imu"
extrinsic:
pose: [0,0,0,0,0,0,1]
follow: "test_imu_params_bno.yaml"
# -
# type: "SensorImu"
# name: "bno"
# plugin: "imu"
# extrinsic:
# pose: [0,0,0,0,0,0,1]
# follow: "test_imu_params_bno.yaml"
-
type: "SensorImu"
name: "microstrain"
......@@ -70,30 +62,11 @@ config:
plugin: "laser"
follow: "test_laser_processor.yaml"
# -
# type: "ProcessorLoopClosureIcp"
# name: "processorloopclosureicp"
# sensor_name: "scanner_front_left"
# plugin: "laser"
# time_tolerance: 0.1
# apply_loss_function: true
# keyframe_vote:
# voting_active: false
# recent_frames_ignored: 10
# frames_ignored_after_loop: 0
# max_error_threshold: 0.02
# min_points_percent: 40
# max_loops: 1
# max_candidates: 5
# max_attempts: 5
# candidate_generation: "random" # 'random' or 'tree'
# icp:
# follow: "csm.yaml"
-
type: "ProcessorImu"
name: "processorimubno"
sensor_name: "bno"
plugin: "imu"
follow: "test_imu_processor_bno.yaml"
# type: "ProcessorImu"
# name: "processorimubno"
# sensor_name: "bno"
# plugin: "imu"
# follow: "test_imu_processor_bno.yaml"
-
type: "ProcessorImu"
name: "processorimumicro"
......@@ -105,22 +78,19 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
# topic: "/ana/sensors/scan"
topic: "/helena/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
# -
# package: "wolf_ros_imu"
# type: "SubscriberImuEnableable"
# topic: "/imu_bnomal"
# sensor_name: "bno"
# follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
# topic: "/ana/sensors/bno055_imu/imumal"
topic: "/helena/sensors/bno055_imu/imumal"
sensor_name: "bno"
follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
# topic: "/ana/imu/data"
topic: "/helena/imu/data"
topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber_microstrain.yaml"
......
......@@ -56,12 +56,12 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
topic: "/helena/odom"
topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/helena/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
......
......@@ -77,21 +77,21 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
topic: "/ana/odom"
topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/ana/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
topic: "/ana/sensors/bno055_imu/imu"
topic: "/imu_bno"
# topic: "/imu_micro"
sensor_name: "bno"
#topic: "/ana/imu/data"
#sensor_name: "microstrain"
# sensor_name: "microstrain"
follow: "test_imu_subscriber.yaml"
ROS publisher:
......
......@@ -69,17 +69,17 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/helena/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
##bno
#topic: "/ana/sensors/bno055_imu/imu"
#topic: "/imu_bno"
#sensor_name: "bno"
#microstrain
topic: "/helena/sensors/imu/data"
topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber.yaml"
......
......@@ -89,19 +89,19 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/ana/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
topic: "/ana/sensors/bno055_imu/imumal"
topic: "/imu_bnomal"
sensor_name: "bno"
follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
topic: "/ana/imu/data"
topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber_microstrain.yaml"
......
......@@ -55,12 +55,12 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
topic: "/ana/odom"
topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/ana/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
......
......@@ -68,18 +68,18 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
topic: "/helena/odom"
topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
topic: "/helena/sensors/scan"
topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_gnss"
type: "SubscriberGnssUblox"
topic: "/helena/sensors/ublox_gps/raw_data_stream"
topic: "/ublox_gps/raw_data_stream"
sensor_name: "gnss"
follow: "test_subscriber_gnss.yaml"
......
......@@ -7,7 +7,7 @@ cov_source: "sensor"
in_degrees: true
#all
topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
topic_enable: "/imu_bno/enable"
static_init_duration: 5
lowpass_filter: true
lowpass_cutoff_freq: 5
......@@ -7,7 +7,7 @@ cov_source: "sensor"
in_degrees: false
#all
topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
topic_enable: "/imu_micro/enable"
static_init_duration: 3
lowpass_filter: false
lowpass_cutoff_freq: 5
......@@ -3,7 +3,7 @@ keyframe_vote:
min_features_for_keyframe: 10
min_dist: 999
min_angle: 999
min_time: 0.1
min_time: 0.5
min_error: 999
max_points: 0
max_new_features: 15
......
map_frame_id: "map"
odom_frame_id: "ana/odom"
base_frame_id: "ana/base_footprint"
# odom_frame_id: "ana/odom"
# base_frame_id: "ana/base_footprint"
odom_frame_id: "helena/odom"
base_frame_id: "helena/base_footprint"
publish_odom_tf: false
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