Change d435 topic names. Add cameras to Rviz.

diff --git a/twil_2dnav/rviz/twil_2dnav.rviz b/twil_2dnav/rviz/twil_2dnav.rviz
index dda1efc..1d32de1 100644 (file)
--- a/twil_2dnav/rviz/twil_2dnav.rviz
+++ b/twil_2dnav/rviz/twil_2dnav.rviz
@@ -4,14 +4,9 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
-        - /Odometry1
-        - /Map1
-        - /Pose1
-        - /Path1
+        - /DepthCloud1/Auto Size1
       Splitter Ratio: 0.5
-    Tree Height: 728
+    Tree Height: 370
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -30,7 +25,7 @@ Panels:
     Experimental: true
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: DepthCloud
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -90,43 +85,16 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        camera_color_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_color_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_depth_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_depth_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_left_ir_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_left_ir_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
         camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        camera_right_ir_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_right_ir_optical_frame:
+        camera_usb_plug_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
         caster_base:
           Alpha: 1
           Show Axes: false
@@ -191,6 +159,10 @@ 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
@@ -267,6 +239,7 @@ Visualization Manager:
       Keep: 42
       Name: Odometry
       Position Tolerance: 0.30000001192092896
+      Queue Size: 10
       Shape:
         Alpha: 1
         Axes Length: 1
@@ -298,7 +271,8 @@ Visualization Manager:
       Enabled: true
       Head Length: 0.30000001192092896
       Head Radius: 0.10000000149011612
-      Name: Pose
+      Name: Pose (goal)
+      Queue Size: 10
       Shaft Length: 1
       Shaft Radius: 0.05000000074505806
       Shape: Arrow
@@ -322,12 +296,93 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
+      Queue Size: 10
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
       Topic: /move_base/TrajectoryPlannerROS/global_plan
       Unreliable: false
       Value: true
+    - Alpha: 1
+      Auto Size:
+        Auto Size Factor: 1
+        Value: true
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/DepthCloud
+      Color: 255; 255; 255
+      Color Image Topic: /camera/color/image_raw
+      Color Transformer: RGB8
+      Color Transport Hint: raw
+      Decay Time: 0
+      Depth Map Topic: /camera/depth/image_raw
+      Depth Map Transport Hint: raw
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: DepthCloud
+      Occlusion Compensation:
+        Occlusion Time-Out: 30
+        Value: false
+      Position Transformer: XYZ
+      Queue Size: 5
+      Selectable: true
+      Size (Pixels): 3
+      Style: Flat Squares
+      Topic Filter: true
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /camera/depth/image_raw
+      Name: Camera (depth)
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+      Visibility:
+        Camera (color): true
+        DepthCloud: true
+        Grid: true
+        Map: true
+        Odometry: true
+        Path: true
+        Pose (goal): true
+        RobotModel: true
+        Value: true
+      Zoom Factor: 1
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /camera/color/image_raw
+      Name: Camera (color)
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+      Visibility:
+        Camera (depth): true
+        DepthCloud: true
+        Grid: true
+        Map: true
+        Odometry: true
+        Path: true
+        Pose (goal): true
+        RobotModel: true
+        Value: true
+      Zoom Factor: 1
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -362,6 +417,7 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 0.19336318969726562
         Y: 2.774914026260376
@@ -373,16 +429,19 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 1.4347964525222778
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
       Yaw: 4.71176290512085
     Saved: ~
 Window Geometry:
+  Camera (color):
+    collapsed: false
+  Camera (depth):
+    collapsed: false
   Displays:
     collapsed: false
   Height: 1025
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d0000031b00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001fb000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001c00430061006d00650072006100200028006400650070007400680029010000023c000000980000001600fffffffb0000001c00430061006d006500720061002000280063006f006c006f0072002901000002da000000c80000001600ffffff000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002c400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -392,5 +451,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1853
-  X: 67
-  Y: 27
+  X: 59
+  Y: 4

diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index 0350bac..3f21f7a 100644 (file)
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -173,8 +173,8 @@
             will control the frame rate. -->
           <updateRate>0.0</updateRate>
           <cameraName>camera</cameraName>
-          <imageTopicName>/camera/depth/image_raw</imageTopicName>
-          <cameraInfoTopicName>/camera/depth/camera_info</cameraInfoTopicName>
+          <imageTopicName>/camera/color/image_raw</imageTopicName>
+          <cameraInfoTopicName>/camera/color/camera_info</cameraInfoTopicName>
           <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
           <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
           <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>