From: Walter Fetter Lages Date: Fri, 8 Jan 2021 05:56:58 +0000 (-0300) Subject: Change d435 topic names. Add cameras to Rviz. X-Git-Tag: raulTCC~6 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=a96beccb4cb7bc40bb406692113c97c5d9dedc0c;p=twil.git 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 --- 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: - 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 --- a/twil_description/xacro/twil.urdf.xacro +++ b/twil_description/xacro/twil.urdf.xacro @@ -173,8 +173,8 @@ will control the frame rate. --> 0.0 camera - /camera/depth/image_raw - /camera/depth/camera_info + /camera/color/image_raw + /camera/color/camera_info /camera/depth/image_raw /camera/depth/camera_info /camera/depth/points