mirror of
https://github.com/Jieshoudaxue/ros_senior.git
synced 2026-08-29 08:34:43 +08:00
[feat] add mbot_navigation
This commit is contained in:
jieshoudaxue
@@ -0,0 +1,36 @@
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<launch>
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<!-- 设置launch文件的参数 -->
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<arg name="world_name" value="$(find mbot_gazebo)/worlds/hometown_room.world"/>
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- 运行gazebo仿真环境 -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world_name)" />
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!-- 加载机器人模型描述参数 -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_gazebo)/urdf/mbot_base.xacro'" />
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<!-- 运行joint_state_publisher节点，发布机器人的关节状态 -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
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<!-- 运行robot_state_publisher节点，发布tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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</node>
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<!-- 在gazebo中加载机器人模型-->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model mbot -param robot_description"/>
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</launch>
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@@ -1,37 +1,6 @@
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<launch>
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<!-- 设置launch文件的参数 -->
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<arg name="world_name" value="$(find mbot_gazebo)/worlds/hometown_room.world"/>
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- 运行gazebo仿真环境 -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world_name)" />
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!-- 加载机器人模型描述参数 -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_gazebo)/urdf/mbot_base.xacro'" />
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<!-- 运行joint_state_publisher节点，发布机器人的关节状态 -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
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<!-- 运行robot_state_publisher节点，发布tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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</node>
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<!-- 在gazebo中加载机器人模型-->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model mbot -param robot_description"/>
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<include file="$(find mbot_gazebo)/launch/mbot_gazebo.launch"/>
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<!-- 运行rviz可视化界面 -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_gazebo)/config/mbot_gazebo.rviz" required="true" />
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Regular → Executable
@@ -0,0 +1,207 @@
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cmake_minimum_required(VERSION 3.0.2)
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project(mbot_navigation)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
|
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
|
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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move_base_msgs
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roscpp
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rospy
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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|
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|
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## Uncomment this if the package has a setup.py. This macro ensures
|
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## modules and global scripts declared therein get installed
|
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
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# catkin_python_setup()
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|
||||
################################################
|
||||
## 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
|
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## 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(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
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# FILES
|
||||
# Service1.srv
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# Service2.srv
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# )
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||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
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# FILES
|
||||
# Action1.action
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||||
# Action2.action
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# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
# generate_messages(
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||||
# DEPENDENCIES
|
||||
# geometry_msgs# move_base_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
|
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES mbot_navigation
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# CATKIN_DEPENDS geometry_msgs move_base_msgs roscpp rospy
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# DEPENDS system_lib
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)
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||||
|
||||
###########
|
||||
## 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/${PROJECT_NAME}/mbot_navigation.cpp
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||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${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/mbot_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_mbot_navigation.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
@@ -0,0 +1,42 @@
|
||||
<launch>
|
||||
|
||||
<arg name="scan_topic" default="scan" />
|
||||
|
||||
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">
|
||||
<param name="odom_frame" value="odom"/>
|
||||
<param name="map_update_interval" value="5.0"/>
|
||||
<!-- Set maxUrange < actual maximum range of the Laser -->
|
||||
<param name="maxRange" value="5.0"/>
|
||||
<param name="maxUrange" value="4.5"/>
|
||||
<param name="sigma" value="0.05"/>
|
||||
<param name="kernelSize" value="1"/>
|
||||
<param name="lstep" value="0.05"/>
|
||||
<param name="astep" value="0.05"/>
|
||||
<param name="iterations" value="5"/>
|
||||
<param name="lsigma" value="0.075"/>
|
||||
<param name="ogain" value="3.0"/>
|
||||
<param name="lskip" value="0"/>
|
||||
<param name="srr" value="0.01"/>
|
||||
<param name="srt" value="0.02"/>
|
||||
<param name="str" value="0.01"/>
|
||||
<param name="stt" value="0.02"/>
|
||||
<param name="linearUpdate" value="0.5"/>
|
||||
<param name="angularUpdate" value="0.436"/>
|
||||
<param name="temporalUpdate" value="-1.0"/>
|
||||
<param name="resampleThreshold" value="0.5"/>
|
||||
<param name="particles" value="80"/>
|
||||
<param name="xmin" value="-1.0"/>
|
||||
<param name="ymin" value="-1.0"/>
|
||||
<param name="xmax" value="1.0"/>
|
||||
<param name="ymax" value="1.0"/>
|
||||
<param name="delta" value="0.05"/>
|
||||
<param name="llsamplerange" value="0.01"/>
|
||||
<param name="llsamplestep" value="0.01"/>
|
||||
<param name="lasamplerange" value="0.005"/>
|
||||
<param name="lasamplestep" value="0.005"/>
|
||||
<remap from="scan" to="$(arg scan_topic)"/>
|
||||
</node>
|
||||
|
||||
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/map.rviz"/>
|
||||
|
||||
</launch>
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,7 @@
|
||||
image: gmapping_save.pgm
|
||||
resolution: 0.050000
|
||||
origin: [-15.400000, -15.400000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
@@ -0,0 +1,71 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>mbot_navigation</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The mbot_navigation package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="mm@todo.todo">mm</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/mbot_navigation</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>move_base_msgs</build_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_export_depend>geometry_msgs</build_export_depend>
|
||||
<build_export_depend>move_base_msgs</build_export_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
<exec_depend>move_base_msgs</exec_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,286 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 446
|
||||
- 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
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: PointCloud2
|
||||
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: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
back_caster_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_caster_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
kinect_frame_optical:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
kinect_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
laser_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
stage_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: false
|
||||
Filter (blacklist): ""
|
||||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: false
|
||||
- Class: rviz/Image
|
||||
Enabled: false
|
||||
Image Topic: /camera/image_raw
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Unreliable: false
|
||||
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/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic: /kinect/depth/points
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
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/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: Intensity
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.05000000074505806
|
||||
Style: Flat Squares
|
||||
Topic: /scan
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 0.699999988079071
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 0; 0; 0
|
||||
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: 25.009658813476562
|
||||
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
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.9247962236404419
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 4.753584384918213
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 737
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000247fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000247000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001cf000000b30000001600ffffff000000010000010f00000247fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000247000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000003a40000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1280
|
||||
X: 8
|
||||
Y: 31
|
||||
Reference in New Issue
Block a user