From 22812171c0ea0c1a089cbb0bc360abcfb4923c79 Mon Sep 17 00:00:00 2001 From: Carlos Miguel Correia da Costa Date: Sun, 8 Mar 2015 11:19:11 +0000 Subject: [PATCH] Changed 6 DoF tests in ship_interior to use both kinect and lasers. --- ...t_freiburg2_pioneer_slam_accelerometer.txt | 0 ...d_dataset_freiburg2_pioneer_slam_depth.flv | Bin ...set_freiburg2_pioneer_slam_groundtruth.txt | 0 ...bd_dataset_freiburg2_pioneer_slam_info.txt | 0 ...urg2_pioneer_slam_lasers_only_fixed_tf.bag | Bin ...ly_fixed_tf_without_base_link_to_laser.bag | Bin ...gbd_dataset_freiburg2_pioneer_slam_rgb.flv | Bin ...polaris_robot.sh => move_polaris_robot.sh} | 0 .../ship_interior/ship_interior.launch | 13 ++- .../ship_interior_cluttered.launch | 10 +++ ...=> ship_interior_cluttered_dynamic.launch} | 12 +-- ...ship_interior_filters_unstable_ground.yaml | 41 +++++++++ .../ship_interior/ship_interior_tof.launch | 14 ---- .../ship_interior_tof_and_lasers.launch | 42 ++++++++++ ...h => ship_interior_unstable_ground.launch} | 11 ++- ...interior_unstable_ground_cluttered.launch} | 8 +- ..._unstable_ground_cluttered_dynamic.launch} | 8 +- ...p_interior_unstable_ground_complex.launch} | 9 +- ...interior_with_cluttered_environment.launch | 14 ---- .../ship_interior_corner_slam.launch | 2 +- ....launch => freiburg2_pioneer_slam1.launch} | 4 +- .../environments/tum/freiburg2_pioneer.launch | 4 +- launch/localization_tests.launch | 4 +- ...mic_robot_localization_tridimensional.rviz | 8 +- .../dynamic_robot_localization_planar.rviz | 74 +++++++++++----- .../dynamic_robot_localization_planar.rviz | 8 +- ...mic_robot_localization_tridimensional.rviz | 79 ++++++++++++++---- 27 files changed, 253 insertions(+), 112 deletions(-) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_accelerometer.txt (100%) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_depth.flv (100%) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_groundtruth.txt (100%) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_info.txt (100%) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf.bag (100%) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf_without_base_link_to_laser.bag (100%) rename datasets/tum/{freiburg2_pioneer_slam => freiburg2_pioneer_slam1}/rgbd_dataset_freiburg2_pioneer_slam_rgb.flv (100%) rename launch/environments/ship_interior/{ship_interior_with_cluttered_environment_dynamic_move_polaris_robot.sh => move_polaris_robot.sh} (100%) create mode 100644 launch/environments/ship_interior/ship_interior_cluttered.launch rename launch/environments/ship_interior/{ship_interior_with_cluttered_environment_dynamic.launch => ship_interior_cluttered_dynamic.launch} (71%) create mode 100644 launch/environments/ship_interior/ship_interior_filters_unstable_ground.yaml delete mode 100644 launch/environments/ship_interior/ship_interior_tof.launch create mode 100644 launch/environments/ship_interior/ship_interior_tof_and_lasers.launch rename launch/environments/ship_interior/{ship_interior_with_unstable_ground.launch => ship_interior_unstable_ground.launch} (55%) rename launch/environments/ship_interior/{ship_interior_with_cluttered_environment_and_unstable_ground.launch => ship_interior_unstable_ground_cluttered.launch} (66%) rename launch/environments/ship_interior/{ship_interior_with_cluttered_environment_dynamic_and_unstable_ground.launch => ship_interior_unstable_ground_cluttered_dynamic.launch} (81%) rename launch/environments/ship_interior/{ship_interior_with_unstable_ground_complex.launch => ship_interior_unstable_ground_complex.launch} (57%) delete mode 100644 launch/environments/ship_interior/ship_interior_with_cluttered_environment.launch rename launch/environments/tum/bags/{freiburg2_pioneer_slam.launch => freiburg2_pioneer_slam1.launch} (86%) diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_accelerometer.txt b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_accelerometer.txt similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_accelerometer.txt rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_accelerometer.txt diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_depth.flv b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_depth.flv similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_depth.flv rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_depth.flv diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_groundtruth.txt b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_groundtruth.txt similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_groundtruth.txt rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_groundtruth.txt diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_info.txt b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_info.txt similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_info.txt rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_info.txt diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf.bag b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf.bag similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf.bag rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf.bag diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf_without_base_link_to_laser.bag b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf_without_base_link_to_laser.bag similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf_without_base_link_to_laser.bag rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf_without_base_link_to_laser.bag diff --git a/datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_rgb.flv b/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_rgb.flv similarity index 100% rename from datasets/tum/freiburg2_pioneer_slam/rgbd_dataset_freiburg2_pioneer_slam_rgb.flv rename to datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_rgb.flv diff --git a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic_move_polaris_robot.sh b/launch/environments/ship_interior/move_polaris_robot.sh similarity index 100% rename from launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic_move_polaris_robot.sh rename to launch/environments/ship_interior/move_polaris_robot.sh diff --git a/launch/environments/ship_interior/ship_interior.launch b/launch/environments/ship_interior/ship_interior.launch index 587abd2..7b82e47 100644 --- a/launch/environments/ship_interior/ship_interior.launch +++ b/launch/environments/ship_interior/ship_interior.launch @@ -1,14 +1,21 @@ + + + + + + + - - - + + + diff --git a/launch/environments/ship_interior/ship_interior_cluttered.launch b/launch/environments/ship_interior/ship_interior_cluttered.launch new file mode 100644 index 0000000..f393d0c --- /dev/null +++ b/launch/environments/ship_interior/ship_interior_cluttered.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic.launch b/launch/environments/ship_interior/ship_interior_cluttered_dynamic.launch similarity index 71% rename from launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic.launch rename to launch/environments/ship_interior/ship_interior_cluttered_dynamic.launch index 21d8fb7..1845c41 100644 --- a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic.launch +++ b/launch/environments/ship_interior/ship_interior_cluttered_dynamic.launch @@ -1,15 +1,11 @@ - - - - - - + + + + - - - - - - - - - - - - - - - diff --git a/launch/environments/ship_interior/ship_interior_tof_and_lasers.launch b/launch/environments/ship_interior/ship_interior_tof_and_lasers.launch new file mode 100644 index 0000000..8085a42 --- /dev/null +++ b/launch/environments/ship_interior/ship_interior_tof_and_lasers.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/environments/ship_interior/ship_interior_with_unstable_ground.launch b/launch/environments/ship_interior/ship_interior_unstable_ground.launch similarity index 55% rename from launch/environments/ship_interior/ship_interior_with_unstable_ground.launch rename to launch/environments/ship_interior/ship_interior_unstable_ground.launch index c1c6599..2e97cd2 100644 --- a/launch/environments/ship_interior/ship_interior_with_unstable_ground.launch +++ b/launch/environments/ship_interior/ship_interior_unstable_ground.launch @@ -1,16 +1,15 @@ - + + + + - - - - + > - diff --git a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_and_unstable_ground.launch b/launch/environments/ship_interior/ship_interior_unstable_ground_cluttered.launch similarity index 66% rename from launch/environments/ship_interior/ship_interior_with_cluttered_environment_and_unstable_ground.launch rename to launch/environments/ship_interior/ship_interior_unstable_ground_cluttered.launch index 69cee65..032501d 100644 --- a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_and_unstable_ground.launch +++ b/launch/environments/ship_interior/ship_interior_unstable_ground_cluttered.launch @@ -1,15 +1,15 @@ - + + + + - - - diff --git a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic_and_unstable_ground.launch b/launch/environments/ship_interior/ship_interior_unstable_ground_cluttered_dynamic.launch similarity index 81% rename from launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic_and_unstable_ground.launch rename to launch/environments/ship_interior/ship_interior_unstable_ground_cluttered_dynamic.launch index 9f2a967..0ee79ea 100644 --- a/launch/environments/ship_interior/ship_interior_with_cluttered_environment_dynamic_and_unstable_ground.launch +++ b/launch/environments/ship_interior/ship_interior_unstable_ground_cluttered_dynamic.launch @@ -1,16 +1,16 @@ - + + + + - - - - + + + + - - - - diff --git a/launch/environments/ship_interior/ship_interior_with_cluttered_environment.launch b/launch/environments/ship_interior/ship_interior_with_cluttered_environment.launch deleted file mode 100644 index 2049c34..0000000 --- a/launch/environments/ship_interior/ship_interior_with_cluttered_environment.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/launch/environments/ship_interior_corner/ship_interior_corner_slam.launch b/launch/environments/ship_interior_corner/ship_interior_corner_slam.launch index 4a87ea8..8a268c6 100644 --- a/launch/environments/ship_interior_corner/ship_interior_corner_slam.launch +++ b/launch/environments/ship_interior_corner/ship_interior_corner_slam.launch @@ -24,7 +24,7 @@ - + diff --git a/launch/environments/tum/bags/freiburg2_pioneer_slam.launch b/launch/environments/tum/bags/freiburg2_pioneer_slam1.launch similarity index 86% rename from launch/environments/tum/bags/freiburg2_pioneer_slam.launch rename to launch/environments/tum/bags/freiburg2_pioneer_slam1.launch index e7e00bc..2f3db0c 100644 --- a/launch/environments/tum/bags/freiburg2_pioneer_slam.launch +++ b/launch/environments/tum/bags/freiburg2_pioneer_slam1.launch @@ -1,8 +1,8 @@ - - + + diff --git a/launch/environments/tum/freiburg2_pioneer.launch b/launch/environments/tum/freiburg2_pioneer.launch index 54c3a0c..c729f0f 100644 --- a/launch/environments/tum/freiburg2_pioneer.launch +++ b/launch/environments/tum/freiburg2_pioneer.launch @@ -2,8 +2,8 @@ - - + + diff --git a/launch/localization_tests.launch b/launch/localization_tests.launch index ba77b8e..091451f 100644 --- a/launch/localization_tests.launch +++ b/launch/localization_tests.launch @@ -153,7 +153,9 @@ - + + + diff --git a/rviz/asl/dynamic_robot_localization_tridimensional.rviz b/rviz/asl/dynamic_robot_localization_tridimensional.rviz index 55bee39..708bcea 100644 --- a/rviz/asl/dynamic_robot_localization_tridimensional.rviz +++ b/rviz/asl/dynamic_robot_localization_tridimensional.rviz @@ -12,7 +12,7 @@ Panels: - /Cloud registration1/PointCloud2 after registration1 - /Cloud integration1 - /Localization1 - Splitter Ratio: 0.613248 + Splitter Ratio: 0.707386 Tree Height: 745 - Class: rviz/Selection Name: Selection @@ -206,7 +206,7 @@ Visualization Manager: Color: 140; 70; 0 Color Transformer: RGB8 Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 @@ -222,7 +222,7 @@ Visualization Manager: Topic: /dynamic_robot_localization/ambient_pointcloud_filtered Use Fixed Frame: true Use rainbow: true - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -503,5 +503,5 @@ Window Geometry: Views: collapsed: true Width: 1580 - X: 2171 + X: 2164 Y: 24 diff --git a/rviz/guardian/crob_lab_slam/dynamic_robot_localization_planar.rviz b/rviz/guardian/crob_lab_slam/dynamic_robot_localization_planar.rviz index 99623c1..8f83139 100644 --- a/rviz/guardian/crob_lab_slam/dynamic_robot_localization_planar.rviz +++ b/rviz/guardian/crob_lab_slam/dynamic_robot_localization_planar.rviz @@ -81,10 +81,28 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false + back_left_wheel: + Value: true + back_right_wheel: + Value: true base_footprint: Value: true base_link: Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + front_left_wheel: + Value: true + front_right_wheel: + Value: true hokuyo_back_laser_link: Value: true hokuyo_frontal_laser_link: @@ -99,8 +117,6 @@ Visualization Manager: Value: true map: Value: true - map_odom_only: - Value: true odom: Value: true right_track: @@ -115,6 +131,22 @@ Visualization Manager: odom: base_footprint: base_link: + back_left_wheel: + {} + back_right_wheel: + {} + camera_rgb_frame: + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_link: + {} + camera_rgb_optical_frame: + {} + front_left_wheel: + {} + front_right_wheel: + {} hokuyo_back_laser_link: {} imu_link: @@ -127,8 +159,6 @@ Visualization Manager: {} right_track: {} - map_odom_only: - {} Update Interval: 0 Value: true - Angle Tolerance: 0.1 @@ -144,10 +174,10 @@ Visualization Manager: - Arrow Length: 0.3 Class: rviz/PoseArray Color: 255; 85; 0 - Enabled: true + Enabled: false Name: PoseArray Topic: /particlecloud - Value: true + Value: false - Alpha: 0.7 Class: rviz/Map Color Scheme: map @@ -170,7 +200,7 @@ Visualization Manager: Color: 255; 170; 0 Color Transformer: FlatColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1.61321e-19 @@ -186,7 +216,7 @@ Visualization Manager: Topic: /hokuyo_back_scan Use Fixed Frame: true Use rainbow: true - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -199,7 +229,7 @@ Visualization Manager: Color: 0; 0; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 0; 0 Max Intensity: 1.61321e-19 @@ -215,7 +245,7 @@ Visualization Manager: Topic: /scan Use Fixed Frame: true Use rainbow: false - Value: false + Value: true - Alpha: 1 Class: rviz_plugin_tutorials/Imu Color: 204; 51; 204 @@ -224,7 +254,7 @@ Visualization Manager: Name: Imu Topic: /guardian/imu_data Value: true - Enabled: true + Enabled: false Name: Sensors - Class: rviz/Group Displays: @@ -266,7 +296,7 @@ Visualization Manager: Name: Path TP local Topic: /move_base/TrajectoryPlannerROS/local_plan Value: true - Enabled: true + Enabled: false Name: Paths - Class: rviz/Group Displays: @@ -398,7 +428,7 @@ Visualization Manager: Color: 85; 255; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 @@ -414,7 +444,7 @@ Visualization Manager: Topic: /dynamic_robot_localization/ambient_keypoints Use Fixed Frame: true Use rainbow: true - Value: true + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -606,16 +636,16 @@ Visualization Manager: Name: Localization PoseArray Topic: /dynamic_robot_localization/localization_poses Value: true - Enabled: true + Enabled: false Name: Localization - Class: rviz/Marker - Enabled: true + Enabled: false Marker Topic: /decision/Patch Name: Marker path Namespaces: {} Queue Size: 100 - Value: true + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -628,7 +658,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 @@ -644,7 +674,7 @@ Visualization Manager: Topic: /camera/depth_registered/points Use Fixed Frame: true Use rainbow: true - Value: true + Value: false - Alpha: 1 Auto Size: Auto Size Factor: 1 @@ -664,7 +694,7 @@ Visualization Manager: Decay Time: 0 Depth Map Topic: /camera/depth/image Depth Map Transport Hint: raw - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 @@ -682,7 +712,7 @@ Visualization Manager: Topic Filter: true Use Fixed Frame: true Use rainbow: true - Value: true + Value: false - Class: rviz/Image Enabled: false Image Topic: /camera/rgb/image_raw @@ -763,5 +793,5 @@ Window Geometry: Views: collapsed: true Width: 1920 - X: 1913 + X: 1920 Y: 24 diff --git a/rviz/guardian/ship_interior/dynamic_robot_localization_planar.rviz b/rviz/guardian/ship_interior/dynamic_robot_localization_planar.rviz index 1ef2465..dc0213c 100644 --- a/rviz/guardian/ship_interior/dynamic_robot_localization_planar.rviz +++ b/rviz/guardian/ship_interior/dynamic_robot_localization_planar.rviz @@ -31,7 +31,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: PointCloud2 from laser Visualization Manager: Class: "" Displays: @@ -325,7 +325,7 @@ Visualization Manager: Color: 255; 170; 0 Color Transformer: FlatColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 @@ -341,7 +341,7 @@ Visualization Manager: Topic: /dynamic_robot_localization/ambient_pointcloud_filtered Use Fixed Frame: true Use rainbow: true - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -705,5 +705,5 @@ Window Geometry: Views: collapsed: true Width: 1337 - X: 2488 + X: 2481 Y: 24 diff --git a/rviz/guardian/ship_interior/dynamic_robot_localization_tridimensional.rviz b/rviz/guardian/ship_interior/dynamic_robot_localization_tridimensional.rviz index 20c4054..97c2bbf 100644 --- a/rviz/guardian/ship_interior/dynamic_robot_localization_tridimensional.rviz +++ b/rviz/guardian/ship_interior/dynamic_robot_localization_tridimensional.rviz @@ -11,7 +11,7 @@ Panels: - /Cloud registration1 - /Localization1 Splitter Ratio: 0.699074 - Tree Height: 359 + Tree Height: 843 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -30,7 +30,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: PointCloud2 from map + SyncSource: PointCloud2 after filtering Visualization Manager: Class: "" Displays: @@ -89,6 +89,27 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false front_left_wheel: Alpha: 1 Show Axes: false @@ -99,11 +120,11 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - hokuyo_base_laser_link: + hokuyo_back_laser_link: Alpha: 1 Show Axes: false Show Trail: false - hokuyo_tilt_laser_link: + hokuyo_frontal_laser_link: Alpha: 1 Show Axes: false Show Trail: false @@ -112,6 +133,14 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + laser_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false left_track: Alpha: 1 Show Axes: false @@ -227,7 +256,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: false Value: true - - Alpha: 1 + - Alpha: 0.5 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -361,7 +390,7 @@ Visualization Manager: Position Transformer: XYZ Queue Size: 1 Selectable: true - Size (Pixels): 2 + Size (Pixels): 1 Size (m): 0.01 Style: Points Topic: /dynamic_robot_localization/ambient_pointcloud @@ -513,6 +542,13 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true + - Arrow Length: 0.75 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Name: PoseArray IA + Topic: /dynamic_robot_localization/localization_initial_pose_estimations + Value: true Enabled: true Name: Cloud registration - Class: rviz/Group @@ -604,6 +640,13 @@ Visualization Manager: Name: Cloud integration - Class: rviz/Group Displays: + - Arrow Length: 0.05 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Name: PoseArray odometry + Topic: /dynamic_robot_localization/odometry_poses + Value: true - Alpha: 0.75 Axes Length: 1 Axes Radius: 0.1 @@ -618,14 +661,14 @@ Visualization Manager: Shape: Arrow Topic: /dynamic_robot_localization/localization_pose Value: true - - Arrow Length: 0.012 + - Arrow Length: 0.05 Class: rviz/PoseArray Color: 0; 158; 0 Enabled: true Name: GroundTruth PoseArray Topic: /dynamic_robot_localization/groundtruth_poses Value: true - - Arrow Length: 0.012 + - Arrow Length: 0.05 Class: rviz/PoseArray Color: 0; 0; 255 Enabled: true @@ -658,30 +701,30 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 8.04111 + Distance: 12.2571 Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 1.1543 - Y: -0.720309 - Z: 1.35499 + X: -2.26649 + Y: -2.49354 + Z: -0.302835 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.244797 + Pitch: 0.6498 Target Frame: Value: Orbit (rviz) - Yaw: 3.24958 + Yaw: 1.27699 Saved: ~ Window Geometry: Displays: - collapsed: true + collapsed: false Height: 1056 - Hide Left Dock: true + Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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Selection: collapsed: false Time: @@ -691,5 +734,5 @@ Window Geometry: Views: collapsed: true Width: 1920 - X: -7 + X: 1913 Y: 24