From: Walter Fetter Lages Date: Mon, 26 Jul 2021 20:36:32 +0000 (-0300) Subject: Add tatuira_navigation package. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=cf72fd5616e6654cbfaa4dde7ce1a7a94c7fcd4a;p=tatuira.git Add tatuira_navigation package. --- diff --git a/tatuira_bringup/launch/gazebo.launch b/tatuira_bringup/launch/gazebo.launch index f9a7d9f..edd60a1 100644 --- a/tatuira_bringup/launch/gazebo.launch +++ b/tatuira_bringup/launch/gazebo.launch @@ -2,6 +2,8 @@ + + @@ -14,6 +16,8 @@ + + diff --git a/tatuira_bringup/launch/gazebo8.launch b/tatuira_bringup/launch/gazebo8.launch index eb0d8a1..9205996 100644 --- a/tatuira_bringup/launch/gazebo8.launch +++ b/tatuira_bringup/launch/gazebo8.launch @@ -2,7 +2,6 @@ - diff --git a/tatuira_description/launch/display.launch b/tatuira_description/launch/display.launch index 029390b..19391c3 100644 --- a/tatuira_description/launch/display.launch +++ b/tatuira_description/launch/display.launch @@ -1,6 +1,10 @@ - + + + + + + + - + - + + + diff --git a/tatuira_description/launch/tatuira.launch b/tatuira_description/launch/tatuira.launch index 552965f..f75d92a 100644 --- a/tatuira_description/launch/tatuira.launch +++ b/tatuira_description/launch/tatuira.launch @@ -1,5 +1,5 @@ - + + + diff --git a/tatuira_description/rviz/display.rviz b/tatuira_description/rviz/display.rviz index 1dd2760..968993b 100644 --- a/tatuira_description/rviz/display.rviz +++ b/tatuira_description/rviz/display.rviz @@ -4,7 +4,6 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /TF1/Frames1 - /Ground Truth1/Shape1 Splitter Ratio: 0.5 Tree Height: 732 @@ -67,6 +66,15 @@ 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 center_0_link: Alpha: 1 Show Axes: false @@ -201,6 +209,10 @@ Visualization Manager: 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 @@ -264,6 +276,10 @@ Visualization Manager: 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: @@ -318,10 +334,10 @@ Visualization Manager: 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: @@ -342,10 +358,6 @@ Visualization Manager: Value: false right_tire_link: Value: false - wheel_center: - Value: false - world: - Value: false Marker Alpha: 1 Marker Scale: 1 Name: TF @@ -354,61 +366,60 @@ Visualization Manager: 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 diff --git a/tatuira_description/xacro/main.urdf.xacro b/tatuira_description/xacro/main.urdf.xacro index ba94657..f392dec 100644 --- a/tatuira_description/xacro/main.urdf.xacro +++ b/tatuira_description/xacro/main.urdf.xacro @@ -86,5 +86,70 @@ 0 0 ${M_PI/2} + + + + + + + + + + + + + + + + + + 15 + + 1.309 + + 640 + 480 + R8G8B8 + + + 0.05 + 10 + + + gaussian + 0.0 + 0.02 + + + + + 0.05 + true + + 0.0 + camera + /camera/color/image_raw + /camera/color/camera_info + /camera/depth/image_raw + /camera/depth/camera_info + /camera/depth/points + plugin_camera_link + 0.175 + 10.0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + diff --git a/tatuira_navigation/CMakeLists.txt b/tatuira_navigation/CMakeLists.txt new file mode 100644 index 0000000..9b3ec0c --- /dev/null +++ b/tatuira_navigation/CMakeLists.txt @@ -0,0 +1,206 @@ +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) diff --git a/tatuira_navigation/config/base_local_planner.yaml b/tatuira_navigation/config/base_local_planner.yaml new file mode 100644 index 0000000..8cd095e --- /dev/null +++ b/tatuira_navigation/config/base_local_planner.yaml @@ -0,0 +1,19 @@ +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 + diff --git a/tatuira_navigation/config/costmap_common.yaml b/tatuira_navigation/config/costmap_common.yaml new file mode 100644 index 0000000..465dcbc --- /dev/null +++ b/tatuira_navigation/config/costmap_common.yaml @@ -0,0 +1,14 @@ +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} diff --git a/tatuira_navigation/config/global_costmap.yaml b/tatuira_navigation/config/global_costmap.yaml new file mode 100644 index 0000000..4abe707 --- /dev/null +++ b/tatuira_navigation/config/global_costmap.yaml @@ -0,0 +1,8 @@ +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 diff --git a/tatuira_navigation/config/local_costmap.yaml b/tatuira_navigation/config/local_costmap.yaml new file mode 100644 index 0000000..c02d999 --- /dev/null +++ b/tatuira_navigation/config/local_costmap.yaml @@ -0,0 +1,10 @@ +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 diff --git a/tatuira_navigation/launch/gazebo.launch b/tatuira_navigation/launch/gazebo.launch new file mode 100644 index 0000000..39f383d --- /dev/null +++ b/tatuira_navigation/launch/gazebo.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tatuira_navigation/launch/move_base.launch b/tatuira_navigation/launch/move_base.launch new file mode 100644 index 0000000..d2b630d --- /dev/null +++ b/tatuira_navigation/launch/move_base.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/tatuira_navigation/package.xml b/tatuira_navigation/package.xml new file mode 100644 index 0000000..756b67a --- /dev/null +++ b/tatuira_navigation/package.xml @@ -0,0 +1,69 @@ + + + tatuira_navigation + 0.0.1 + The tatuira_navigation package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + + + + + + + + + + catkin + move_base + tatuira_bringup + tatuira_description + move_base + tatuira_bringup + tatuira_description + move_base + tatuira_bringup + tatuira_description + + + + + + + + diff --git a/tatuira_navigation/rviz/tatuira_navigation.rviz b/tatuira_navigation/rviz/tatuira_navigation.rviz new file mode 100644 index 0000000..1d32de1 --- /dev/null +++ b/tatuira_navigation/rviz/tatuira_navigation.rviz @@ -0,0 +1,455 @@ +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: + 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: + 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