Add NAV2 RViz2 GUI module template
This commit is contained in:
Autonomy Studio
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build/
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install/
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log/
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__pycache__/
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*.pyc
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$(basename "$MODULE_PATH")" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}"
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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FOLDER_NAME="$(basename "$MODULE_PATH")"
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CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
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exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "$@"
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def main():
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print('Hi from gui_pkg.')
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if __name__ == '__main__':
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main()
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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ARGUMENTS = [
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DeclareLaunchArgument('rviz_config',
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default_value='nav2',
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choices=['nav2', 'slam', 'fixed_path']),
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]
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def launch_setup(context, *args, **kwargs):
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rviz_config = LaunchConfiguration('rviz_config').perform(context)
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rviz_config_path = os.path.join(
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get_package_share_directory('gui_pkg'), 'rviz', f'{rviz_config}.rviz'
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)
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return [
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', rviz_config_path],
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parameters=[{'use_sim_time': True}],
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),
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]
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def generate_launch_description():
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ld = LaunchDescription(ARGUMENTS)
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ld.add_action(OpaqueFunction(function=launch_setup))
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return ld
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@@ -0,0 +1,23 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>gui_pkg</name>
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<version>0.0.0</version>
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<description>RViz2 visualization module for NAV2 learning environments.</description>
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<maintainer email="jang1future@gmail.com">dgist</maintainer>
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<license>TODO: License declaration</license>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<exec_depend>ament_index_python</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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@@ -0,0 +1,576 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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- /TF1/Tree1
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- /LaserScan1
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- /Controller1
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- /Controller1/Local Costmap1
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Splitter Ratio: 0.5833333134651184
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Tree Height: 462
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: nav2_rviz_plugins/Navigation 2
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Name: Navigation 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: ""
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: false
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Visual Enabled: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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hero:
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Value: true
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hero/lidar:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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map:
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odom:
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hero:
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hero/lidar:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/LaserScan
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Color: 237; 51; 59
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 0
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: LaserScan
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 6
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /scan
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: ""
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Bumper Hit
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Position Transformer: ""
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.07999999821186066
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Style: Spheres
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /mobile_base/sensors/bumper_pointcloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 1
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Class: rviz_default_plugins/Map
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Color Scheme: map
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Draw Behind: true
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Enabled: true
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Name: Map
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Topic:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map_updates
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Class: nav2_rviz_plugins/ParticleCloud
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Color: 0; 180; 0
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||||||
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Enabled: false
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Max Arrow Length: 0.30000001192092896
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Min Arrow Length: 0.019999999552965164
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||||||
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Name: Amcl Particle Swarm
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Shape: Arrow (Flat)
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||||||
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Topic:
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Depth: 5
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||||||
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Durability Policy: Volatile
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||||||
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /particle_cloud
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Value: false
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- Class: rviz_common/Group
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Displays:
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- Alpha: 0.30000001192092896
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||||||
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Class: rviz_default_plugins/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: true
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Name: Global Costmap
|
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Topic:
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Depth: 1
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||||||
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Durability Policy: Transient Local
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||||||
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Filter size: 10
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||||||
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History Policy: Keep Last
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||||||
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Reliability Policy: Reliable
|
||||||
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Value: /global_costmap/costmap
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||||||
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Update Topic:
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||||||
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Depth: 5
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||||||
|
Durability Policy: Volatile
|
||||||
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History Policy: Keep Last
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||||||
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Reliability Policy: Reliable
|
||||||
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Value: /global_costmap/costmap_updates
|
||||||
|
Use Timestamp: false
|
||||||
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Value: true
|
||||||
|
- Alpha: 0.30000001192092896
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: costmap
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Downsampled Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /downsampled_costmap
|
||||||
|
Update Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /downsampled_costmap_updates
|
||||||
|
Use Timestamp: false
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Buffer Length: 1
|
||||||
|
Class: rviz_default_plugins/Path
|
||||||
|
Color: 255; 0; 0
|
||||||
|
Enabled: true
|
||||||
|
Head Diameter: 0.019999999552965164
|
||||||
|
Head Length: 0.019999999552965164
|
||||||
|
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: Arrows
|
||||||
|
Radius: 0.029999999329447746
|
||||||
|
Shaft Diameter: 0.004999999888241291
|
||||||
|
Shaft Length: 0.019999999552965164
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /plan
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 125; 125; 125
|
||||||
|
Color Transformer: FlatColor
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: VoxelGrid
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.05000000074505806
|
||||||
|
Style: Boxes
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
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Reliability Policy: Reliable
|
||||||
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Value: /global_costmap/voxel_marked_cloud
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Polygon
|
||||||
|
Color: 25; 255; 0
|
||||||
|
Enabled: false
|
||||||
|
Name: Polygon
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /global_costmap/published_footprint
|
||||||
|
Value: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Global Planner
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.699999988079071
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: raw
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Local Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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_default_plugins/Path
|
||||||
|
Color: 0; 12; 255
|
||||||
|
Enabled: 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_default_plugins/MarkerArray
|
||||||
|
Enabled: false
|
||||||
|
Name: Trajectories
|
||||||
|
Namespaces:
|
||||||
|
{}
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /marker
|
||||||
|
Value: false
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Polygon
|
||||||
|
Color: 25; 255; 0
|
||||||
|
Enabled: true
|
||||||
|
Name: Polygon
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /local_costmap/published_footprint
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: VoxelGrid
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /local_costmap/voxel_marked_cloud
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Controller
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Class: rviz_default_plugins/Image
|
||||||
|
Enabled: true
|
||||||
|
Max Value: 1
|
||||||
|
Median window: 5
|
||||||
|
Min Value: 0
|
||||||
|
Name: RealsenseCamera
|
||||||
|
Normalize Range: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /intel_realsense_r200_depth/image_raw
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: RealsenseDepthImage
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /intel_realsense_r200_depth/points
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: false
|
||||||
|
Name: Realsense
|
||||||
|
- Class: rviz_default_plugins/MarkerArray
|
||||||
|
Enabled: false
|
||||||
|
Name: MarkerArray
|
||||||
|
Namespaces:
|
||||||
|
{}
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /waypoints
|
||||||
|
Value: false
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: map
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- 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/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
- Class: nav2_rviz_plugins/GoalTool
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Angle: -1.5707999467849731
|
||||||
|
Class: rviz_default_plugins/TopDownOrtho
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Scale: 74.30464935302734
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: TopDownOrtho (rviz_default_plugins)
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 932
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: true
|
||||||
|
Navigation 2:
|
||||||
|
collapsed: false
|
||||||
|
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000020b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000024e000001390000013900fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
RealsenseCamera:
|
||||||
|
collapsed: false
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1545
|
||||||
|
X: 168
|
||||||
|
Y: 61
|
||||||
@@ -0,0 +1,363 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 0
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /TF1/Frames1
|
||||||
|
- /TF1/Tree1
|
||||||
|
- /LaserScan1
|
||||||
|
- /Controller1
|
||||||
|
- /Controller1/Local Costmap1
|
||||||
|
Splitter Ratio: 0.5833333134651184
|
||||||
|
Tree Height: 462
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/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: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
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: false
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
Link Tree Style: ""
|
||||||
|
Mass Properties:
|
||||||
|
Inertia: false
|
||||||
|
Mass: false
|
||||||
|
Name: RobotModel
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: false
|
||||||
|
Visual Enabled: true
|
||||||
|
- Class: rviz_default_plugins/TF
|
||||||
|
Enabled: true
|
||||||
|
Frame Timeout: 15
|
||||||
|
Frames:
|
||||||
|
All Enabled: false
|
||||||
|
hero:
|
||||||
|
Value: true
|
||||||
|
hero/lidar:
|
||||||
|
Value: true
|
||||||
|
map:
|
||||||
|
Value: true
|
||||||
|
odom:
|
||||||
|
Value: true
|
||||||
|
Marker Scale: 1
|
||||||
|
Name: TF
|
||||||
|
Show Arrows: true
|
||||||
|
Show Axes: true
|
||||||
|
Show Names: false
|
||||||
|
Tree:
|
||||||
|
map:
|
||||||
|
odom:
|
||||||
|
hero:
|
||||||
|
hero/lidar:
|
||||||
|
{}
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/LaserScan
|
||||||
|
Color: 237; 51; 59
|
||||||
|
Color Transformer: FlatColor
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 0
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: LaserScan
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 6
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Best Effort
|
||||||
|
Value: /scan
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: map
|
||||||
|
Draw Behind: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Map
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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
|
||||||
|
Class: nav2_rviz_plugins/ParticleCloud
|
||||||
|
Color: 0; 180; 0
|
||||||
|
Enabled: false
|
||||||
|
Max Arrow Length: 0.30000001192092896
|
||||||
|
Min Arrow Length: 0.019999999552965164
|
||||||
|
Name: Amcl Particle Swarm
|
||||||
|
Shape: Arrow (Flat)
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Best Effort
|
||||||
|
Value: /particle_cloud
|
||||||
|
Value: false
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.30000001192092896
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: costmap
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Global Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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: 1
|
||||||
|
Buffer Length: 1
|
||||||
|
Class: rviz_default_plugins/Path
|
||||||
|
Color: 255; 0; 0
|
||||||
|
Enabled: true
|
||||||
|
Head Diameter: 0.019999999552965164
|
||||||
|
Head Length: 0.019999999552965164
|
||||||
|
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: Arrows
|
||||||
|
Radius: 0.029999999329447746
|
||||||
|
Shaft Diameter: 0.004999999888241291
|
||||||
|
Shaft Length: 0.019999999552965164
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /plan
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Global Planner
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.699999988079071
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: raw
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Local Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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_default_plugins/Path
|
||||||
|
Color: 0; 12; 255
|
||||||
|
Enabled: 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
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Polygon
|
||||||
|
Color: 25; 255; 0
|
||||||
|
Enabled: true
|
||||||
|
Name: Polygon
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /local_costmap/published_footprint
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Controller
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: map
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- 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/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
- Class: rviz_default_plugins/SetGoal
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /goal_pose
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Angle: -1.5707999467849731
|
||||||
|
Class: rviz_default_plugins/TopDownOrtho
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Scale: 74.30464935302734
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: TopDownOrtho (rviz_default_plugins)
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 932
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: true
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1545
|
||||||
|
X: 168
|
||||||
|
Y: 61
|
||||||
@@ -0,0 +1,599 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 0
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /TF1/Frames1
|
||||||
|
- /TF1/Tree1
|
||||||
|
- /LaserScan1
|
||||||
|
- /Controller1
|
||||||
|
- /Controller1/Local Costmap1
|
||||||
|
- /PointCloud21
|
||||||
|
Splitter Ratio: 0.5833333134651184
|
||||||
|
Tree Height: 462
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: nav2_rviz_plugins/Navigation 2
|
||||||
|
Name: Navigation 2
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/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: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
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: false
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
Link Tree Style: ""
|
||||||
|
Mass Properties:
|
||||||
|
Inertia: false
|
||||||
|
Mass: false
|
||||||
|
Name: RobotModel
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: false
|
||||||
|
Visual Enabled: true
|
||||||
|
- Class: rviz_default_plugins/TF
|
||||||
|
Enabled: true
|
||||||
|
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: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/LaserScan
|
||||||
|
Color: 237; 51; 59
|
||||||
|
Color Transformer: FlatColor
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 0
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: LaserScan
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 6
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Best Effort
|
||||||
|
Value: /scan
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: ""
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: false
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: Bumper Hit
|
||||||
|
Position Transformer: ""
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.07999999821186066
|
||||||
|
Style: Spheres
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Best Effort
|
||||||
|
Value: /mobile_base/sensors/bumper_pointcloud
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: false
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: map
|
||||||
|
Draw Behind: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Map
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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
|
||||||
|
Class: nav2_rviz_plugins/ParticleCloud
|
||||||
|
Color: 0; 180; 0
|
||||||
|
Enabled: false
|
||||||
|
Max Arrow Length: 0.30000001192092896
|
||||||
|
Min Arrow Length: 0.019999999552965164
|
||||||
|
Name: Amcl Particle Swarm
|
||||||
|
Shape: Arrow (Flat)
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Best Effort
|
||||||
|
Value: /particle_cloud
|
||||||
|
Value: false
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.30000001192092896
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: costmap
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Global Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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: 0.30000001192092896
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: costmap
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Downsampled Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /downsampled_costmap
|
||||||
|
Update Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /downsampled_costmap_updates
|
||||||
|
Use Timestamp: false
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Buffer Length: 1
|
||||||
|
Class: rviz_default_plugins/Path
|
||||||
|
Color: 255; 0; 0
|
||||||
|
Enabled: true
|
||||||
|
Head Diameter: 0.019999999552965164
|
||||||
|
Head Length: 0.019999999552965164
|
||||||
|
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: Arrows
|
||||||
|
Radius: 0.029999999329447746
|
||||||
|
Shaft Diameter: 0.004999999888241291
|
||||||
|
Shaft Length: 0.019999999552965164
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /plan
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 125; 125; 125
|
||||||
|
Color Transformer: FlatColor
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: VoxelGrid
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.05000000074505806
|
||||||
|
Style: Boxes
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /global_costmap/voxel_marked_cloud
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Polygon
|
||||||
|
Color: 25; 255; 0
|
||||||
|
Enabled: false
|
||||||
|
Name: Polygon
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /global_costmap/published_footprint
|
||||||
|
Value: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Global Planner
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.699999988079071
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: raw
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Local Costmap
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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_default_plugins/Path
|
||||||
|
Color: 0; 12; 255
|
||||||
|
Enabled: 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_default_plugins/MarkerArray
|
||||||
|
Enabled: false
|
||||||
|
Name: Trajectories
|
||||||
|
Namespaces:
|
||||||
|
{}
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /marker
|
||||||
|
Value: false
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/Polygon
|
||||||
|
Color: 25; 255; 0
|
||||||
|
Enabled: true
|
||||||
|
Name: Polygon
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /local_costmap/published_footprint
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: VoxelGrid
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /local_costmap/voxel_marked_cloud
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Controller
|
||||||
|
- Class: rviz_common/Group
|
||||||
|
Displays:
|
||||||
|
- Class: rviz_default_plugins/Image
|
||||||
|
Enabled: true
|
||||||
|
Max Value: 1
|
||||||
|
Median window: 5
|
||||||
|
Min Value: 0
|
||||||
|
Name: RealsenseCamera
|
||||||
|
Normalize Range: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /intel_realsense_r200_depth/image_raw
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: RealsenseDepthImage
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Flat Squares
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /intel_realsense_r200_depth/points
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: false
|
||||||
|
Name: Realsense
|
||||||
|
- Class: rviz_default_plugins/MarkerArray
|
||||||
|
Enabled: false
|
||||||
|
Name: MarkerArray
|
||||||
|
Namespaces:
|
||||||
|
{}
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /waypoints
|
||||||
|
Value: false
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: ""
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: PointCloud2
|
||||||
|
Position Transformer: ""
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /lidar_filtered
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: map
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- 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/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
- Class: nav2_rviz_plugins/GoalTool
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Angle: -1.5707999467849731
|
||||||
|
Class: rviz_default_plugins/TopDownOrtho
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Scale: 74.30464935302734
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: TopDownOrtho (rviz_default_plugins)
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 932
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: true
|
||||||
|
Navigation 2:
|
||||||
|
collapsed: false
|
||||||
|
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000020b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000024e000001390000013900fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
RealsenseCamera:
|
||||||
|
collapsed: false
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1545
|
||||||
|
X: 168
|
||||||
|
Y: 61
|
||||||
@@ -0,0 +1,152 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 0
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /TF1/Frames1
|
||||||
|
- /TF1/Tree1
|
||||||
|
- /LaserScan1
|
||||||
|
- /Map1
|
||||||
|
Splitter Ratio: 0.58
|
||||||
|
Tree Height: 520
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.58
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Class: rviz_default_plugins/Grid
|
||||||
|
Enabled: true
|
||||||
|
Name: Grid
|
||||||
|
Plane: XY
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Class: rviz_default_plugins/TF
|
||||||
|
Enabled: true
|
||||||
|
Frame Timeout: 15
|
||||||
|
Frames:
|
||||||
|
All Enabled: false
|
||||||
|
base_link:
|
||||||
|
Value: true
|
||||||
|
map:
|
||||||
|
Value: true
|
||||||
|
odom:
|
||||||
|
Value: true
|
||||||
|
os_imu:
|
||||||
|
Value: true
|
||||||
|
os_sensor:
|
||||||
|
Value: true
|
||||||
|
Marker Scale: 1
|
||||||
|
Name: TF
|
||||||
|
Show Arrows: true
|
||||||
|
Show Axes: true
|
||||||
|
Show Names: false
|
||||||
|
Tree:
|
||||||
|
map:
|
||||||
|
odom:
|
||||||
|
base_link:
|
||||||
|
os_imu:
|
||||||
|
{}
|
||||||
|
os_sensor:
|
||||||
|
{}
|
||||||
|
Value: true
|
||||||
|
- Class: rviz_default_plugins/LaserScan
|
||||||
|
Enabled: true
|
||||||
|
Name: LaserScan
|
||||||
|
Size (Pixels): 4
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
Filter size: 10
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Best Effort
|
||||||
|
Value: /scan
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Value: true
|
||||||
|
- Class: rviz_default_plugins/Map
|
||||||
|
Enabled: true
|
||||||
|
Name: Map
|
||||||
|
Topic:
|
||||||
|
Depth: 1
|
||||||
|
Durability Policy: Transient Local
|
||||||
|
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
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: map
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz_default_plugins/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz_default_plugins/MoveCamera
|
||||||
|
- Class: rviz_default_plugins/Select
|
||||||
|
- Class: rviz_default_plugins/SetInitialPose
|
||||||
|
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:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/Orbit
|
||||||
|
Distance: 27
|
||||||
|
Focal Point:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Name: Current View
|
||||||
|
Pitch: 1.2
|
||||||
|
Target Frame: map
|
||||||
|
Yaw: 0.8
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 980
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: false
|
||||||
|
QMainWindow State: 000000ff00000000fd0000000400000000000001a60000035bfc0200000008fb000000100044006900730070006c00610079007301000000000000016d0000016400fffffffb0000001200530065006c0065006300740069006f006e0000000173000000e10000009b00fffffffb000000160054006f006f006c002000500072006f0070006500720074006900650073010000025a000000d1000000a700fffffffb0000000a00560069006500770073010000032f0000002c0000009300ffffff000000010000035c0000035bfc0200000001fb0000000a0056006900650077007303000000000000035b000000a700ffffff00000003000005e00000005dfc0100000002fb000000080054006f006f006c00730100000000000005e0000000b700fffffffb0000000a005600690065007700730100000000000005e0000000a700ffffff000000000000000000000004000000040000000800000008fc00000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: false
|
||||||
|
Width: 1680
|
||||||
|
X: 120
|
||||||
|
Y: 80
|
||||||
@@ -0,0 +1,4 @@
|
|||||||
|
[develop]
|
||||||
|
script_dir=$base/lib/gui_pkg
|
||||||
|
[install]
|
||||||
|
install_scripts=$base/lib/gui_pkg
|
||||||
@@ -0,0 +1,35 @@
|
|||||||
|
|
||||||
|
import os
|
||||||
|
from glob import glob
|
||||||
|
from setuptools import find_packages, setup
|
||||||
|
|
||||||
|
package_name = 'gui_pkg'
|
||||||
|
|
||||||
|
setup(
|
||||||
|
name=package_name,
|
||||||
|
version='0.0.0',
|
||||||
|
packages=find_packages(exclude=['test']),
|
||||||
|
data_files=[
|
||||||
|
('share/ament_index/resource_index/packages',
|
||||||
|
['resource/' + package_name]),
|
||||||
|
('share/' + package_name, ['package.xml']),
|
||||||
|
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
|
||||||
|
(os.path.join('share', package_name, 'rviz'), glob('rviz/*.rviz')),
|
||||||
|
],
|
||||||
|
install_requires=['setuptools'],
|
||||||
|
zip_safe=True,
|
||||||
|
maintainer='dgist',
|
||||||
|
maintainer_email='jang1future@gmail.com',
|
||||||
|
description='RViz2 visualization module for NAV2 learning environments.',
|
||||||
|
license='Apache-2.0',
|
||||||
|
extras_require={
|
||||||
|
'test': [
|
||||||
|
'pytest',
|
||||||
|
],
|
||||||
|
},
|
||||||
|
entry_points={
|
||||||
|
'console_scripts': [
|
||||||
|
'test = gui_pkg.test:main'
|
||||||
|
],
|
||||||
|
},
|
||||||
|
)
|
||||||
@@ -0,0 +1,25 @@
|
|||||||
|
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
from ament_copyright.main import main
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
# Remove the `skip` decorator once the source file(s) have a copyright header
|
||||||
|
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
|
||||||
|
@pytest.mark.copyright
|
||||||
|
@pytest.mark.linter
|
||||||
|
def test_copyright():
|
||||||
|
rc = main(argv=['.', 'test'])
|
||||||
|
assert rc == 0, 'Found errors'
|
||||||
@@ -0,0 +1,25 @@
|
|||||||
|
# Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
from ament_flake8.main import main_with_errors
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.flake8
|
||||||
|
@pytest.mark.linter
|
||||||
|
def test_flake8():
|
||||||
|
rc, errors = main_with_errors(argv=[])
|
||||||
|
assert rc == 0, \
|
||||||
|
'Found %d code style errors / warnings:\n' % len(errors) + \
|
||||||
|
'\n'.join(errors)
|
||||||
@@ -0,0 +1,23 @@
|
|||||||
|
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
from ament_pep257.main import main
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.linter
|
||||||
|
@pytest.mark.pep257
|
||||||
|
def test_pep257():
|
||||||
|
rc = main(argv=['.', 'test'])
|
||||||
|
assert rc == 0, 'Found code style errors / warnings'
|
||||||
Reference in New Issue
Block a user