Change twil_2dnav to use D435 camera by default.

diff --git a/twil_2dnav/config/twil_2dnav.rviz b/twil_2dnav/config/twil_2dnav.rviz
index 482caed..eb5c944 100644 (file)
--- a/twil_2dnav/config/twil_2dnav.rviz
+++ b/twil_2dnav/config/twil_2dnav.rviz
@@ -1,13 +1,13 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 70
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Ground Truth1/Topic1
         - /Global Plan1/Topic1
       Splitter Ratio: 0.570588231086731
-    Tree Height: 394
+    Tree Height: 149
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -25,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: PointCloud2
 Visualization Manager:
   Class: ""
   Displays:
@@ -85,6 +85,15 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         caster_base:
           Alpha: 1
           Show Axes: false
@@ -149,6 +158,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        plugin_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         power_supply:
           Alpha: 1
           Show Axes: false
@@ -198,6 +211,9 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -490,6 +506,102 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /transformed_global_plan
       Value: true
+    - Class: rviz_default_plugins/Camera
+      Enabled: true
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera Color
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/color/image_raw
+      Value: true
+      Visibility:
+        Camera Depth: true
+        Global Costmap: true
+        Global Plan: true
+        Grid: true
+        Ground Truth: true
+        Local Costmap: true
+        Local Plan: true
+        Map: true
+        Odometry: true
+        PointCloud2: true
+        Pose Reference: true
+        Received Global Plan: true
+        RobotModel: true
+        TF: true
+        Transformed Global Plan: true
+        Value: true
+      Zoom Factor: 1
+    - Class: rviz_default_plugins/Camera
+      Enabled: true
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera Depth
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/image_raw
+      Value: true
+      Visibility:
+        Camera Color: true
+        Global Costmap: true
+        Global Plan: true
+        Grid: true
+        Ground Truth: true
+        Local Costmap: true
+        Local Plan: true
+        Map: true
+        Odometry: true
+        PointCloud2: true
+        Pose Reference: true
+        Received Global Plan: true
+        RobotModel: true
+        TF: true
+        Transformed Global Plan: true
+        Value: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -557,12 +669,16 @@ Visualization Manager:
       Yaw: 4.70857572555542
     Saved: ~
 Window Geometry:
+  Camera Color:
+    collapsed: false
+  Camera Depth:
+    collapsed: false
   Displays:
     collapsed: false
-  Height: 691
+  Height: 895
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000215fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000215000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000215fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000215000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000028f0000021500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002e1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000118000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001800430061006d006500720061002000440065007000740068010000015b000000d90000002800fffffffb0000001800430061006d00650072006100200043006f006c006f0072010000023a000000e40000002800ffffff000000010000010f000002e1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002e1000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000028f000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/twil_2dnav/launch/gazebo.launch.xml b/twil_2dnav/launch/gazebo.launch.xml
index 804f362..3afe2ad 100644 (file)
--- a/twil_2dnav/launch/gazebo.launch.xml
+++ b/twil_2dnav/launch/gazebo.launch.xml
@@ -34,7 +34,7 @@
                <arg name="gui" value="$(var gui)"/>
                <arg name="use_sim_time" value="$(var use_sim_time)"/>
                <arg name="wam" value="$(var wam)"/>
-               <arg name="d435" value="false"/>
+               <arg name="d435" value="true"/>
                <arg name="gps" value="$(var gps)"/>
                <arg name="world" value="$(var world)"/>
                <arg name="controller" value="$(var controller)"/>