From: Walter Fetter Lages Date: Sat, 30 Apr 2022 07:56:32 +0000 (-0300) Subject: twil_2dnav ported to Galactic. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=c0961e637bb109a74b13f728aceabe3e3199325e;p=twil.git twil_2dnav ported to Galactic. --- diff --git a/twil_2dnav/CMakeLists.txt b/twil_2dnav/CMakeLists.txt index f304401..d873c31 100644 --- a/twil_2dnav/CMakeLists.txt +++ b/twil_2dnav/CMakeLists.txt @@ -1,207 +1,30 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.8) project(twil_2dnav) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## 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 - twil_bringup - twil_bringup - twil_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 -# ) +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(twil_bringup REQUIRED) +find_package(twil_description REQUIRED) +find_package(nav2_bringup REQUIRED) -## 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 twil_2dnav -# CATKIN_DEPENDS move_base twil_bringup twil_bringup twil_description -# DEPENDS system_lib +install(DIRECTORY config launch rviz + DESTINATION share/${PROJECT_NAME} ) -########### -## 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/${PROJECT_NAME}/twil_2dnav.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/twil_2dnav_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 -# install(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_twil_2dnav.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/twil_2dnav/config/base_local_planner_params.yaml b/twil_2dnav/config/base_local_planner_params.yaml deleted file mode 100644 index a8b69a0..0000000 --- a/twil_2dnav/config/base_local_planner_params.yaml +++ /dev/null @@ -1,19 +0,0 @@ -TrajectoryPlannerROS: - max_vel_x: 0.6 #(vel angular max = 2*pi) 0.47 - min_vel_x: 0.35 #zona morta - obtido por experimento 0.2 - max_vel_theta: 4 #2*(max_vel_x) / wheelbase 2.92 - min_vel_theta: -4 # -2.92 - min_in_place_vel_theta: 1 #zona morta - obtido por experimento - escape_vel: -0.4 #-0.3 - - acc_lim_theta: 79.5 - acc_lim_x: 44.4 - acc_lim_y: 44.4 - - holonomic_robot: false - - yaw_goal_tolerance: 0.15 # default 0.05 rad - xy_goal_tolerance: 0.25 # default 0.1 m - -controller_frequency: 4.0 - diff --git a/twil_2dnav/config/bt_navigator_params.yaml b/twil_2dnav/config/bt_navigator_params.yaml new file mode 100644 index 0000000..296168b --- /dev/null +++ b/twil_2dnav/config/bt_navigator_params.yaml @@ -0,0 +1,46 @@ +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: twil_origin + odom_topic: /twist_mrac_linearizing_controller/odom + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node diff --git a/twil_2dnav/config/controller_params.yaml b/twil_2dnav/config/controller_params.yaml new file mode 100644 index 0000000..808a8f0 --- /dev/null +++ b/twil_2dnav/config/controller_params.yaml @@ -0,0 +1,85 @@ +controller_server: + ros__parameters: + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: twil_origin + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.3 + plugins: ["inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.35 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True diff --git a/twil_2dnav/config/costmap_common_params.yaml b/twil_2dnav/config/costmap_common_params.yaml deleted file mode 100644 index a80f882..0000000 --- a/twil_2dnav/config/costmap_common_params.yaml +++ /dev/null @@ -1,14 +0,0 @@ -obstacle_range: 2.5 # alcance da adição de obstáculos no costmap 2.5 -raytrace_range: 3.0 # 3.0 - -max_obstacle_height: 1,0 -min_obstacle_height: 0.05 - -#footprint: [[x0, y0], [x1, y1], ... [xn, yn]] -robot_radius: 0.3 #wheelbase/2 -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} #marking = usar o sensor pra marcar obstáculos clearing = usar pra limpá-los diff --git a/twil_2dnav/config/global_costmap_params.yaml b/twil_2dnav/config/global_costmap_params.yaml deleted file mode 100644 index d1649b8..0000000 --- a/twil_2dnav/config/global_costmap_params.yaml +++ /dev/null @@ -1,8 +0,0 @@ -global_costmap: - global_frame: map - robot_base_frame: twil_origin - update_frequency: 1.0 - static_map: true -# resolution: 0.1 -# origin_x: -16.0 -# origin_y: -2.0 diff --git a/twil_2dnav/config/local_costmap_params.yaml b/twil_2dnav/config/local_costmap_params.yaml deleted file mode 100644 index b073726..0000000 --- a/twil_2dnav/config/local_costmap_params.yaml +++ /dev/null @@ -1,10 +0,0 @@ -local_costmap: - global_frame: odom - robot_base_frame: twil_origin - update_frequency: 4.0 - publish_frequency: 2.0 - static_map: false - rolling_window: true - width: 6.0 - height: 6.0 - resolution: 0.01 diff --git a/twil_2dnav/config/planner_params.yaml b/twil_2dnav/config/planner_params.yaml new file mode 100644 index 0000000..a9e5c60 --- /dev/null +++ b/twil_2dnav/config/planner_params.yaml @@ -0,0 +1,29 @@ +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: twil_origin + robot_radius: 0.3 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "inflation_layer"] + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.35 + always_send_full_costmap: True diff --git a/twil_2dnav/config/recoveries_params.yaml b/twil_2dnav/config/recoveries_params.yaml new file mode 100644 index 0000000..2dfe1c5 --- /dev/null +++ b/twil_2dnav/config/recoveries_params.yaml @@ -0,0 +1,19 @@ +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + wait: + plugin: "nav2_recoveries/Wait" + global_frame: odom + robot_base_frame: twil_origin + transform_timeout: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 diff --git a/twil_2dnav/config/waypoint_follower.yaml b/twil_2dnav/config/waypoint_follower.yaml new file mode 100644 index 0000000..801909f --- /dev/null +++ b/twil_2dnav/config/waypoint_follower.yaml @@ -0,0 +1,9 @@ +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/twil_2dnav/launch/gazebo.launch b/twil_2dnav/launch/gazebo.launch deleted file mode 100644 index 290b290..0000000 --- a/twil_2dnav/launch/gazebo.launch +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/twil_2dnav/launch/gazebo.launch.xml b/twil_2dnav/launch/gazebo.launch.xml new file mode 100644 index 0000000..40f88e2 --- /dev/null +++ b/twil_2dnav/launch/gazebo.launch.xml @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/twil_2dnav/launch/move_base.launch b/twil_2dnav/launch/move_base.launch deleted file mode 100644 index 37bf383..0000000 --- a/twil_2dnav/launch/move_base.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml new file mode 100644 index 0000000..571bea1 --- /dev/null +++ b/twil_2dnav/launch/nav2_navigator.launch.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/twil_2dnav/package.xml b/twil_2dnav/package.xml index 99feb14..365f869 100644 --- a/twil_2dnav/package.xml +++ b/twil_2dnav/package.xml @@ -1,68 +1,23 @@ - + + twil_2dnav - 0.0.0 - The twil_2dnav package + 2.0.0 + Twil navigation package + Gabriel Petry + Walter Fetter Lages + GPLv3 - - - - gabriel + ament_cmake + twil_bringup + twil_description + nav2_bringup - - - - TODO + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - move_base - twil_bringup - twil_description - move_base - twil_bringup - twil_description - move_base - twil_bringup - twil_description - - - - - + ament_cmake diff --git a/twil_2dnav/rviz/twil_2dnav.rviz b/twil_2dnav/rviz/twil_2dnav.rviz index 1d32de1..db2a793 100644 --- a/twil_2dnav/rviz/twil_2dnav.rviz +++ b/twil_2dnav/rviz/twil_2dnav.rviz @@ -1,41 +1,37 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - - /DepthCloud1/Auto Size1 - Splitter Ratio: 0.5 - Tree Height: 370 - - Class: rviz/Selection + - /Ground Truth1/Topic1 + - /Global Plan1/Topic1 + Splitter Ratio: 0.570588231086731 + Tree Height: 394 + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 + - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: true + - Class: rviz_common/Time + Experimental: false Name: Time SyncMode: 0 - SyncSource: DepthCloud -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 + SyncSource: "" Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true Line Style: @@ -45,15 +41,23 @@ Visualization Manager: Normal Cell Count: 0 Offset: X: 0 - Y: 0 + Y: 10 Z: 0 Plane: XY - Plane Cell Count: 50 + Plane Cell Count: 32 Reference Frame: Value: true - Alpha: 1 - Class: rviz/RobotModel + Class: rviz_default_plugins/RobotModel Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description Enabled: true Links: All Links Enabled: true @@ -81,20 +85,6 @@ 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 - camera_usb_plug_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true caster_base: Alpha: 1 Show Axes: false @@ -159,10 +149,6 @@ 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 @@ -213,13 +199,85 @@ Visualization Manager: Show Axes: false Show Trail: false Name: RobotModel - Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: true Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/Pose + Color: 0; 0; 255 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose Reference + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /command_stamped + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/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: false + Enabled: true + Keep: 100 + Name: Ground Truth + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 25; 255; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /ground_truth + Value: true - Angle Tolerance: 0.10000000149011612 - Class: rviz/Odometry + Class: rviz_default_plugins/Odometry Covariance: Orientation: Alpha: 0.5 @@ -239,7 +297,6 @@ Visualization Manager: Keep: 42 Name: Odometry Position Tolerance: 0.30000001192092896 - Queue Size: 10 Shape: Alpha: 1 Axes Length: 1 @@ -250,38 +307,80 @@ Visualization Manager: Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Arrow - Topic: /twist_mrac_linearizing_controller/odom - Unreliable: false + Topic: + Depth: 10 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /twist_mrac_linearizing_controller/odom Value: true - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: costmap + Class: rviz_default_plugins/Map + Color Scheme: map Draw Behind: false Enabled: true Name: Map - Topic: /move_base/global_costmap/costmap - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates Use Timestamp: false Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/Pose - Color: 255; 255; 0 + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false 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 + Name: Global Costmap + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 - Class: rviz/Path + Class: rviz_default_plugins/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 @@ -289,159 +388,181 @@ Visualization Manager: Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 - Name: Path + Name: Global Plan 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 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan 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 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 25; 0 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 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan Value: true - - Class: rviz/Camera + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 0; 255 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 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Received Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /received_global_plan 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 + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 255 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 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Transformed Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /transformed_global_plan 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 + - Class: rviz_default_plugins/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 + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Class: rviz/Orbit - Distance: 8.200119972229004 + Class: rviz_default_plugins/Orbit + Distance: 26.927026748657227 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 + X: 0.0057085235603153706 + Y: 4.187395095825195 + Z: 6.038466930389404 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 + Pitch: 0.735398530960083 Target Frame: - Yaw: 4.71176290512085 + Value: Orbit (rviz) + Yaw: 4.70857572555542 Saved: ~ Window Geometry: - Camera (color): - collapsed: false - Camera (depth): - collapsed: false Displays: collapsed: false - Height: 1025 + Height: 691 Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001fb000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001c00430061006d00650072006100200028006400650070007400680029010000023c000000980000001600fffffffb0000001c00430061006d006500720061002000280063006f006c006f0072002901000002da000000c80000001600ffffff000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002c400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000015600000215fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000215000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000215fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000215000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000028f0000021500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -449,7 +570,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: true - Width: 1853 - X: 59 - Y: 4 + collapsed: false + Width: 1280 + X: 640 + Y: 0