Skip to content
Snippets Groups Projects
Commit be2727c7 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

launch and yamls

parent d75ecb4d
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
launch/imu2d_analysys.launch
+ 1
− 2
View file @ be2727c7
......@@ -23,8 +23,7 @@
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"
"/wolf_ros_node/odom_icp"
"/imu_micro_bias_accel"
"/imu_micro_bias_gyro"
"/imu_micro_pose_from_origin"'/>
......
rviz/imu2d_demo_ana.rviz
+ 18
− 53
View file @ be2727c7
......@@ -8,16 +8,10 @@ Panels:
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- /Landmarks1
- /Factors1
- /Factors1/Namespaces1
- /Trajectory1
- /Trajectory1/Namespaces1
- /Axes1
- /PointCloud21
- /Imu1
Splitter Ratio: 0.708737850189209
Tree Height: 725
Tree Height: 839
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -63,50 +57,20 @@ Visualization Manager:
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
ana/base_footprint:
Value: false
ana/base_footprint_robot:
Value: false
ana/base_link:
Value: false
ana/imu_bno055:
Value: false
ana/imu_microstrain:
Value: false
ana/odom:
Value: true
ana/velodyne:
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/imu_bno055:
{}
ana/imu_microstrain:
{}
ana/velodyne:
{}
imu:
{}
ana/base_footprint_robot:
{}
{}
Update Interval: 0
Value: true
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
......@@ -128,6 +92,7 @@ Visualization Manager:
Keep: 300
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
......@@ -198,12 +163,14 @@ Visualization Manager:
{}
Queue Size: 100
Value: false
- Class: rviz/Axes
- 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
......@@ -249,6 +216,7 @@ Visualization Manager:
Enabled: true
History Length: 1
Name: Imu
Queue Size: 10
Topic: /imu_micro_remapped
Unreliable: false
Value: true
......@@ -286,6 +254,7 @@ Visualization Manager:
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 2.3574845790863037
Y: -1.3090972900390625
......@@ -295,10 +264,9 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5097973346710205
Pitch: 0.2547972500324249
Target Frame: map
Value: Orbit (rviz)
Yaw: 4.688166618347168
Yaw: 4.588164329528809
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
......@@ -312,7 +280,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 64.65961456298828
Target Frame: map
Value: TopDownOrtho (rviz)
X: 8.825014114379883
Y: -0.17566636204719543
- Angle: 0
......@@ -327,7 +294,6 @@ 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
......@@ -342,16 +308,15 @@ 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: 1022
Height: 1136
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000020500000360fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000360000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006900000003efc0100000002fb0000000800540069006d0065010000000000000690000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004850000036000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
......@@ -360,6 +325,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1680
X: 1920
Y: 0
Width: 1858
X: 62
Y: 27
yaml/trajectory_analysys/E.yaml
+ 22
− 26
View file @ be2727c7
......@@ -21,13 +21,9 @@ config:
V: [0,0]
time_tolerance: 0.1
node_rate: 100
map:
type: "MapBase"
plugin: "core"
solver:
follow: "parameters/solver.yaml"
sensors:
-
......@@ -118,34 +114,34 @@ config:
topic: "graph"
period: 1
viz_overlapped_factors: true
-
package: "wolf_ros_node"
type: "PublisherTrajectory"
topic: "trajectory"
period: 1
frame_id: "map"
# -
# package: "wolf_ros_node"
# type: "PublisherTrajectory"
# topic: "trajectory"
# period: 1
# frame_id: "map"
-
package: "wolf_ros_node"
type: "PublisherPose"
topic: "pose"
extrinsics: false
period: 0.01
period: 0.1
frame_id: "map"
-
package: "wolf_ros_laser"
type: "PublisherLaserMap"
topic: "map"
period: 1
map_frame_id: "map"
update_dist_th: 0.05
update_angle_th: 0.05
max_n_cells: 1000000
grid_size: 0.1
p_free: 0.3
p_obst: 0.8
p_free_th: 0.2
p_obst_th: 0.9
discard_max_range: true
# -
# package: "wolf_ros_laser"
# type: "PublisherLaserMap"
# topic: "map"
# period: 1
# map_frame_id: "map"
# update_dist_th: 0.05
# update_angle_th: 0.05
# max_n_cells: 1000000
# grid_size: 0.1
# p_free: 0.3
# p_obst: 0.8
# p_free_th: 0.2
# p_obst_th: 0.9
# discard_max_range: true
-
package: "wolf_ros_laser"
type: "PublisherOdomIcp"
......
yaml/trajectory_analysys/T.yaml
+ 7
− 5
View file @ be2727c7
......@@ -25,13 +25,9 @@ config:
V: [0.01, 0.01, 0.01]
time_tolerance: 0.1
node_rate: 100
map:
type: "MapBase"
plugin: "core"
solver:
follow: "parameters/solver.yaml"
sensors:
-
......@@ -118,7 +114,7 @@ config:
type: "PublisherPose"
topic: "pose"
extrinsics: false
period: 0.01
period: 0.1
frame_id: "map"
# -
# package: "wolf_ros_laser"
......@@ -135,4 +131,10 @@ config:
# p_free_th: 0.2
# p_obst_th: 0.9
# discard_max_range: true
-
package: "wolf_ros_laser"
type: "PublisherOdomIcp"
topic: "odom_icp"
period: 0.1
processor_name: "processorodomicp"
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment