<arg name="paused" default="true"/>
<arg name="headless" default="false"/>
<arg name="use_sim_time" default="true"/>
+ <arg name="world" default ="worlds/empty_sky.world"/>
+ <arg name="d435" default="false"/>
<arg name="controller" default="pid"/>
<arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="world" value="$(arg world)"/>
+ <arg name="d435" value="$(arg d435)" />
</include>
<rosparam file="$(arg config)" command="load"/>
<arg name="paused" default="true"/>
<arg name="headless" default="false"/>
<arg name="use_sim_time" default="true"/>
- <arg name="wam" default="false"/>
<arg name="controller" default="nonsmooth_backstep_controller"/>
<arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
<launch>
<arg name="use_gui" default="false"/>
- <include file="$(find tatuira_description)/launch/tatuira.launch"/>
+ <arg name="d435" default="false"/>
+ <include file="$(find tatuira_description)/launch/tatuira.launch">
+ <arg name="d435" value="$(arg d435)" />
+ </include>
+
<group if="$(arg use_gui)">
<node pkg="tf2_ros" type="static_transform_publisher"
name="tatuira_origin_publisher"
<arg name="paused" default="true"/>
<arg name="headless" default="false"/>
<arg name="use_sim_time" default="true"/>
+ <arg name="d435" default="false"/>
+ <arg name="world" default ="worlds/empty_sky.world"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="$(arg paused)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="world_name" value="worlds/empty_sky.world" />
+ <arg name="world_name" value="$(arg world)"/>
</include>
- <include file="$(find tatuira_description)/launch/tatuira.launch"/>
+ <include file="$(find tatuira_description)/launch/tatuira.launch">
+ <arg name="d435" value="$(arg d435)" />
+ </include>
<node name="tatuira_spawner" pkg="gazebo_ros" type="spawn_model"
args="-urdf -param robot_description -model tatuira" />
<launch>
- <param name="robot_description"
- command="$(find xacro)/xacro '$(find tatuira_description)/xacro/main.urdf.xacro'"
- />
+ <arg name="d435" default="false"/>
+
+ <param name="robot_description" command="$(find xacro)/xacro '$(find tatuira_description)/xacro/main.urdf.xacro' d435:=$(arg d435)"/>
</launch>
Name: Displays
Property Tree Widget:
Expanded:
- - /TF1/Frames1
- /Ground Truth1/Shape1
Splitter Ratio: 0.5
Tree Height: 732
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
center_0_link:
Alpha: 1
Show Axes: false
Alpha: 1
Show Axes: false
Show Trail: false
+ plugin_camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
right_back_0_link:
Alpha: 1
Show Axes: false
All Enabled: false
awac_link:
Value: false
+ camera_bottom_screw_frame:
+ Value: false
+ camera_link:
+ Value: false
center_0_link:
Value: false
center_1_link:
Value: false
map:
Value: false
- odom:
- Value: false
origin_link:
Value: false
+ plugin_camera_link:
+ Value: false
right_back_0_link:
Value: false
right_back_1_link:
Value: false
right_tire_link:
Value: false
- wheel_center:
- Value: false
- world:
- Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Names: false
Tree:
map:
- odom:
- wheel_center:
- origin_link:
- center_0_link:
- awac_link:
- {}
- center_1_link:
- {}
- front_0_link:
- front_1_link:
+ origin_link:
+ center_0_link:
+ awac_link:
+ camera_bottom_screw_frame:
+ camera_link:
+ plugin_camera_link:
{}
- front_2_link:
- front_fork_fixture_link:
- front_axle_link:
- front_bearing_0_link:
- front_fork_base_link:
- front_bearing_1_link:
- front_bearing_2_link:
- {}
- front_fork_leg_left_link:
- {}
- front_fork_leg_right_link:
- front_wheel_rim_link:
- front_wheel_tire_link:
- {}
- front_fork_plate_link:
+ center_1_link:
+ {}
+ front_0_link:
+ front_1_link:
+ {}
+ front_2_link:
+ front_fork_fixture_link:
+ front_axle_link:
+ front_bearing_0_link:
+ front_fork_base_link:
+ front_bearing_1_link:
+ front_bearing_2_link:
+ {}
+ front_fork_leg_left_link:
+ {}
+ front_fork_leg_right_link:
+ front_wheel_rim_link:
+ front_wheel_tire_link:
{}
- left_back_0_link:
- left_back_1_link:
- left_motor_support_0_link:
- left_motor_support_1_link:
+ front_fork_plate_link:
+ {}
+ left_back_0_link:
+ left_back_1_link:
+ left_motor_support_0_link:
+ left_motor_support_1_link:
+ {}
+ left_motor_support_2_link:
+ left_rim_link:
+ left_tire_link:
{}
- left_motor_support_2_link:
- left_rim_link:
- left_tire_link:
- {}
- left_motor_support_3_link:
- left_motor_link:
- left_pinion_link:
- {}
- right_back_0_link:
- right_back_1_link:
- right_motor_support_0_link:
- right_motor_support_1_link:
+ left_motor_support_3_link:
+ left_motor_link:
+ left_pinion_link:
+ {}
+ right_back_0_link:
+ right_back_1_link:
+ right_motor_support_0_link:
+ right_motor_support_1_link:
+ {}
+ right_motor_support_2_link:
+ right_rim_link:
+ right_tire_link:
+ {}
+ right_motor_support_3_link:
+ right_motor_link:
+ right_pinion_link:
{}
- right_motor_support_2_link:
- right_rim_link:
- right_tire_link:
- {}
- right_motor_support_3_link:
- right_motor_link:
- right_pinion_link:
- {}
- world:
- {}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
<rpyOffset>0 0 ${M_PI/2}</rpyOffset>
</plugin>
</gazebo>
+
+ <xacro:if value="$(arg d435)">
+ <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
+ <xacro:sensor_d435 parent="awac_link">
+ <origin xyz="0 0 0.175" rpy="0.0 0.0 ${M_PI/2}" />
+ </xacro:sensor_d435>
+
+ <link name="plugin_camera_link" />
+
+ <joint name="plugin_camera_joint" type="fixed">
+ <parent link="camera_link"/>
+ <child link="plugin_camera_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+ </joint>
+
+ <gazebo reference="camera_link">
+ <sensor name="camera" type="depth">
+ <update_rate>15</update_rate> <!--or 6 or 30 -->
+ <camera>
+ <horizontal_fov>1.309</horizontal_fov> <!--75 deg at 480p or 87 deg at 720p-->
+ <image>
+ <width>640</width> <!--or 1280 -->
+ <height>480</height> <!--or 720 -->
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.05</near>
+ <far>10</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.02</stddev>
+ </noise>
+ </camera>
+
+ <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
+ <baseline>0.05</baseline> <!-- dist between sensors -->
+ <alwaysOn>true</alwaysOn>
+ <!-- Keep this zero, update_rate in the parent <sensor> tag
+ will control the frame rate. -->
+ <updateRate>0.0</updateRate>
+ <cameraName>camera</cameraName>
+ <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>
+ <frameName>plugin_camera_link</frameName>
+ <pointCloudCutoff>0.175</pointCloudCutoff> <!-- or 0.28 at 720p -->
+ <pointCloudCutoffMax>10.0</pointCloudCutoffMax>
+ <distortionK1>0</distortionK1>
+ <distortionK2>0</distortionK2>
+ <distortionK3>0</distortionK3>
+ <distortionT1>0</distortionT1>
+ <distortionT2>0</distortionT2>
+ <CxPrime>0</CxPrime>
+ <Cx>0</Cx>
+ <Cy>0</Cy>
+ <focalLength>0</focalLength>
+ <hackBaseline>0</hackBaseline>
+ </plugin>
+ </sensor>
+ </gazebo>
+ </xacro:if>
</robot>
--- /dev/null
+cmake_minimum_required(VERSION 3.0.2)
+project(tatuira_navigation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ move_base
+ tatuira_bringup
+ tatuira_description
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES tatuira_navigation
+# CATKIN_DEPENDS move_base tatuira_bringup tatuira_description
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/tatuira_navigation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/tatuira_navigation_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_tatuira_navigation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- /dev/null
+TrajectoryPlannerROS:
+ max_vel_x: 0.6
+ min_vel_x: 0.35
+ max_vel_theta: 4
+ min_vel_theta: -4
+ min_in_place_vel_theta: 1
+ escape_vel: -0.4
+
+ acc_lim_theta: 79.5
+ acc_lim_x: 44.4
+ acc_lim_y: 44.4
+
+ holonomic_robot: false
+
+ yaw_goal_tolerance: 0.15
+ xy_goal_tolerance: 0.25
+
+controller_frequency: 4.0
+
--- /dev/null
+obstacle_range: 2.5
+raytrace_range: 3.0
+
+max_obstacle_height: 1,0
+min_obstacle_height: 0.05
+
+#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
+robot_radius: 0.3
+inflation_radius: 0.35
+#cost_scaling_factor: 10
+
+observation_sources: point_cloud_sensor
+
+point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}
--- /dev/null
+global_costmap:
+ global_frame: map
+ robot_base_frame: origin_link
+ update_frequency: 1.0
+ static_map: true
+# resolution: 0.1
+# origin_x: -16.0
+# origin_y: -2.0
--- /dev/null
+local_costmap:
+ global_frame: odom
+ robot_base_frame: origin_link
+ update_frequency: 4.0
+ publish_frequency: 2.0
+ static_map: false
+ rolling_window: true
+ width: 6.0
+ height: 6.0
+ resolution: 0.01
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="world" default ="$(find ufrgs_gazebo)/worlds/centenario.world"/>
+ <arg name="controller" default="twist_mrac_linearizing_controller"/>
+ <arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
+
+ <remap from="/twist_mrac_linearizing_controller/command" to="/cmd_vel" />
+
+ <include file="$(find tatuira_bringup)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="controller" value="$(arg controller)"/>
+ <arg name="config" default="$(arg config)"/>
+ <arg name="d435" value="true"/>
+ <arg name="world" value="$(arg world)" />
+ </include>
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+ <node name="rviz" pkg="rviz" type="rviz" args="-d $(find tatuira_navigation)/rviz/tatuira_navigation.rviz" required="true"/>
+
+ <include file="$(find tatuira_navigation)/launch/move_base.launch" />
+
+</launch>
--- /dev/null
+<launch>
+ <node name="map_server" pkg="map_server" type="map_server" args="$(find ufrgs_maps)/map/centenario1.yaml"/>
+
+ <!--include file="$(find amcl)/examples/amcl_omni.launch" /-->
+
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+ <rosparam file="$(find tatuira_navigation)/config/costmap_common.yaml" command="load" ns="global_costmap" />
+ <rosparam file="$(find tatuira_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
+ <rosparam file="$(find tatuira_navigation)/config/local_costmap.yaml" command="load" />
+ <rosparam file="$(find tatuira_navigation)/config/global_costmap.yaml" command="load" />
+ <rosparam file="$(find tatuira_navigation)/config/base_local_planner.yaml" command="load" />
+ </node>
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<package format="2">
+ <name>tatuira_navigation</name>
+ <version>0.0.1</version>
+ <description>The tatuira_navigation package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fetter@ee.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>GPLv3</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/tatuira_navigation</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="fetter@ee.ufrgs.br">Walter Fetter Lages</author>
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>move_base</build_depend>
+ <build_depend>tatuira_bringup</build_depend>
+ <build_depend>tatuira_description</build_depend>
+ <build_export_depend>move_base</build_export_depend>
+ <build_export_depend>tatuira_bringup</build_export_depend>
+ <build_export_depend>tatuira_description</build_export_depend>
+ <exec_depend>move_base</exec_depend>
+ <exec_depend>tatuira_bringup</exec_depend>
+ <exec_depend>tatuira_description</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
--- /dev/null
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /DepthCloud1/Auto Size1
+ Splitter Ratio: 0.5
+ Tree Height: 370
+ - 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: true
+ Name: Time
+ SyncMode: 0
+ SyncSource: DepthCloud
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ 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: 50
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ battery:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bottom_sonar_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bottom_sonar_cover:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bottom_sonar_sensor:
+ Alpha: 1
+ 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
+ camera_usb_plug_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ chassis:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ chassis_top:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ cpu:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ fan:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ motor_driver:
+ Alpha: 1
+ 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
+ Show Trail: false
+ Value: true
+ right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ stepper_driver:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_sonar_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_sonar_cover:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_sonar_sensor:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tower:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tower_motor:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ twil_origin:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: 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: true
+ Enabled: true
+ Keep: 42
+ Name: Odometry
+ Position Tolerance: 0.30000001192092896
+ Queue Size: 10
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /twist_mrac_linearizing_controller/odom
+ Unreliable: false
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz/Pose
+ Color: 255; 255; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: Pose (goal)
+ Queue Size: 10
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic: /move_base/current_goal
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Path
+ Offset:
+ X: 0
+ Y: 0
+ 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
+ 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: 8.200119972229004
+ 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: 0.19336318969726562
+ Y: 2.774914026260376
+ Z: 2.59694242477417
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.4347964525222778
+ Target Frame: <Fixed Frame>
+ 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: 000000ff00000000fd00000004000000000000015600000367fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001fb000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001c00430061006d00650072006100200028006400650070007400680029010000023c000000980000001600fffffffb0000001c00430061006d006500720061002000280063006f006c006f0072002901000002da000000c80000001600ffffff000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002c400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1853
+ X: 59
+ Y: 4
projects / tatuira.git / commitdiff