From 1981773ffb39ac9f0b339be6fcd2216f3b320f26 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 14 Feb 2024 21:22:46 +0900 Subject: [PATCH 1/6] add launch file --- CMakeLists.txt | 2 +- config/behavior_trees/go.xml | 0 config/go.yaml | 8 ++++++++ launch/vrx_bringup.launch.xml | 11 ++++++++++- 4 files changed, 19 insertions(+), 2 deletions(-) create mode 100644 config/behavior_trees/go.xml create mode 100644 config/go.yaml diff --git a/CMakeLists.txt b/CMakeLists.txt index 82716be..c5dbf37 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -23,7 +23,7 @@ target_link_libraries(vrx_bridge_node vrx_bridge_component ) -install(DIRECTORY launch +install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME} ) diff --git a/config/behavior_trees/go.xml b/config/behavior_trees/go.xml new file mode 100644 index 0000000..e69de29 diff --git a/config/go.yaml b/config/go.yaml new file mode 100644 index 0000000..b04c87e --- /dev/null +++ b/config/go.yaml @@ -0,0 +1,8 @@ +plugins: + - package: robotx_behavior_tree + name: + - move_goal_action +behavior: + description: + package: vrx_bridge + path : config/behavior_trees/go.xml \ No newline at end of file diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml index b459793..0948763 100644 --- a/launch/vrx_bringup.launch.xml +++ b/launch/vrx_bringup.launch.xml @@ -1,8 +1,17 @@ - + + + + + + + + + + From 1b51de38ae8e914ecfe8e24c733d42ba536054f3 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 14 Feb 2024 21:30:02 +0900 Subject: [PATCH 2/6] update xml Signed-off-by: Masaya Kataoka --- config/behavior_trees/go.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/config/behavior_trees/go.xml b/config/behavior_trees/go.xml index e69de29..ade82e0 100644 --- a/config/behavior_trees/go.xml +++ b/config/behavior_trees/go.xml @@ -0,0 +1,7 @@ + + + + + + + From 5b5db0c3b3099a81797c1e64186677b110292633 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Sat, 30 Mar 2024 21:21:36 +0900 Subject: [PATCH 3/6] add launch file Signed-off-by: Masaya Kataoka --- config/vrx.rviz | 760 ++++++++++++++++++++++++++++++++++ launch/vrx_bringup.launch.xml | 6 +- 2 files changed, 765 insertions(+), 1 deletion(-) create mode 100644 config/vrx.rviz diff --git a/config/vrx.rviz b/config/vrx.rviz new file mode 100644 index 0000000..3d975cc --- /dev/null +++ b/config/vrx.rviz @@ -0,0 +1,760 @@ +Panels: + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Perception1/ConcatenatedPoints1/Autocompute Value Bounds1 + - /Perception1/GridMap1 + Splitter Ratio: 0.5 + Tree Height: 641 + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 10 + 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: map + Value: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - 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: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.800000011920929 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.66472327709198 + Min Value: -0.7456226944923401 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 138; 226; 52 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: FrontLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/front_lidar/points_raw + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.800000011920929 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.66472327709198 + Min Value: -0.7456226944923401 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 204; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: RearLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/rear_lidar/points_raw + 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_default_plugins/PointCloud2 + Color: 114; 159; 207 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: RightLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/right_lidar/points_raw + 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_default_plugins/PointCloud2 + Color: 252; 233; 79 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: LeftLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/left_lidar/points_raw + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: FrontRightCamera + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/front_right_camera/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: FrontLeftCamera + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/front_left_camera/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RearLeftCamera + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/rear_left_camera/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RearRightCamera + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/rear_right_camera/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RightCamera + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/right_camera/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LeftCamera + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/left_camera/marker + Value: true + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.800000011920929 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.66472327709198 + Min Value: -0.7456226944923401 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 204; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: RearLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/rear_lidar/points_transform_node/output + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.800000011920929 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.66472327709198 + Min Value: -0.7456226944923401 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 138; 226; 52 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: FrontLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/front_lidar/points_transform_node/output + 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_default_plugins/PointCloud2 + Color: 114; 159; 207 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: RightLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/right_lidar/points_transform_node/output + 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_default_plugins/PointCloud2 + Color: 252; 233; 79 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: LeftLidar + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/left_lidar/points_transform_node/output + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -0.6000000238418579 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatedPoints + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/points_concatenate_node/output + 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_default_plugins/LaserScan + Color: 114; 159; 207 + 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: ObstacleScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Tiles + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/pointcloud_to_laserscan_node/output + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Obstacle + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/scan_segmentation_node/marker + Value: true + - Alpha: 0.30000001192092896 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: combined + Color Transformer: IntensityLayer + Enabled: true + Height Layer: combined + Height Transformer: Layer + History Length: 1 + Invert Rainbow: false + Max Color: 239; 41; 41 + Max Intensity: 10 + Min Color: 52; 101; 164 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/grid_map + Use Rainbow: false + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TaskObjects + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/task_objects/marker + Value: true + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidPath + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_waypoint_server/marker/no_collision + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: LocalWaypoint + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_waypoint_server/local_waypoint + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ReferenceVelocity + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /velocity_planner/velocity_planner/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SimulatedObstacle + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /navi_sim_node/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: HermitePath + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /hermite_path_planner/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /pure_pursuit_planner/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VelocityPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /velocity_planner/velocity_planner/marker/polygon + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Behavior + Namespaces: + "": true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /behavior/marker + Value: true + Enabled: true + Name: Plannig + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Collision + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/collision + Value: true + Enabled: true + Name: Simulation + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal + - 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/FocusCamera + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/MoveCamera + - 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/Select + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/ThirdPersonFollower + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 0.7853981852531433 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2096 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000002000000000000029f000007d6fc0200000004fb000000100044006900730070006c006100790073010000003d000002be000000c900fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000301000000c90000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000003d000000443000000a400ffffff00000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000c15000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 3770 + X: 70 + Y: 27 diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml index 0948763..1b4bcd9 100644 --- a/launch/vrx_bringup.launch.xml +++ b/launch/vrx_bringup.launch.xml @@ -8,10 +8,14 @@ - + + + + + From 863d365b88ccc3a8ce7e2916984428bcecded888 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Sat, 30 Mar 2024 22:20:45 +0900 Subject: [PATCH 4/6] change launch file Signed-off-by: Masaya Kataoka --- config/vrx.rviz | 342 +++++++++++++++------------------- launch/vrx_bringup.launch.xml | 4 +- 2 files changed, 156 insertions(+), 190 deletions(-) diff --git a/config/vrx.rviz b/config/vrx.rviz index 3d975cc..26426cb 100644 --- a/config/vrx.rviz +++ b/config/vrx.rviz @@ -10,10 +10,12 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 + - /Sensing1/lidar1 - /Perception1/ConcatenatedPoints1/Autocompute Value Bounds1 - /Perception1/GridMap1 + - /Plannig1/Behavior1/Status1 Splitter Ratio: 0.5 - Tree Height: 641 + Tree Height: 568 - Class: rviz_common/Tool Properties Expanded: ~ Name: Tool Properties @@ -42,7 +44,7 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 10 - Reference Frame: map + Reference Frame: Value: true - Class: rviz_default_plugins/TF Enabled: false @@ -68,7 +70,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /robot_description + Value: /wamv/robot_description Enabled: true Links: All Links Enabled: true @@ -76,11 +78,147 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + wamv/ball_shooter_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wamv/ball_shooter_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/ball_shooter_camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + wamv/ball_shooter_camera_post_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/ball_shooter_camera_post_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/ball_shooter_launcher_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/cpu_cases_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/front_left_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/front_left_camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + wamv/front_left_camera_post_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/front_left_camera_post_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/front_right_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/front_right_camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + wamv/front_right_camera_post_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/front_right_camera_post_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/gps_wamv_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/imu_wamv_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/left_battery_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/left_engine_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/left_propeller_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/lidar_wamv_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/lidar_wamv_post_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/lidar_wamv_post_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/reciever: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/right_battery_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/right_engine_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wamv/right_propeller_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true Mass Properties: Inertia: false Mass: false Name: RobotModel - TF Prefix: "" + TF Prefix: wamv Update Interval: 0 Value: true Visual Enabled: true @@ -89,56 +227,22 @@ Visualization Manager: - Alpha: 0.800000011920929 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 0.66472327709198 - Min Value: -0.7456226944923401 + Max Value: 27.91808319091797 + Min Value: -0.9291532039642334 Value: true Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 138; 226; 52 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: FrontLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Spheres - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/front_lidar/points_raw - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 0.800000011920929 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.66472327709198 - Min Value: -0.7456226944923401 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 204; 0; 0 - Color Transformer: FlatColor + Color Transformer: AxisColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 - Name: RearLidar + Name: lidar Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -150,149 +254,9 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /sensing/rear_lidar/points_raw - 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_default_plugins/PointCloud2 - Color: 114; 159; 207 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: -999999 - Min Color: 0; 0; 0 - Min Intensity: 999999 - Name: RightLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/right_lidar/points_raw - 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_default_plugins/PointCloud2 - Color: 252; 233; 79 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: -999999 - Min Color: 0; 0; 0 - Min Intensity: 999999 - Name: LeftLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/left_lidar/points_raw + Value: /wamv/sensors/lidars/lidar_wamv_sensor/points Use Fixed Frame: true Use rainbow: true - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: FrontRightCamera - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/front_right_camera/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: FrontLeftCamera - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/front_left_camera/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: RearLeftCamera - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/rear_left_camera/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: RearRightCamera - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/rear_right_camera/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: RightCamera - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/right_camera/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: LeftCamera - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/left_camera/marker Value: true Enabled: true Name: Sensing @@ -681,7 +645,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: base_link + Fixed Frame: wamv/wamv/base_link Frame Rate: 30 Name: root Tools: @@ -724,7 +688,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/ThirdPersonFollower - Distance: 10 + Distance: 20.860702514648438 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -739,10 +703,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7853981852531433 + Pitch: 0.3903989791870117 Target Frame: base_link Value: ThirdPersonFollower (rviz_default_plugins) - Yaw: 0.7853981852531433 + Yaw: 2.9085874557495117 Saved: ~ Window Geometry: Displays: @@ -750,7 +714,7 @@ Window Geometry: Height: 2096 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000002000000000000029f000007d6fc0200000004fb000000100044006900730070006c006100790073010000003d000002be000000c900fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000301000000c90000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000003d000000443000000a400ffffff00000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000c15000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000020000000000000470000007d6fc0200000004fb000000100044006900730070006c006100790073010000003d00000275000000c900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000002b8000000c90000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000003870000048c000000a400ffffff00000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000a44000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Tool Properties: collapsed: false Views: diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml index 1b4bcd9..86a08ef 100644 --- a/launch/vrx_bringup.launch.xml +++ b/launch/vrx_bringup.launch.xml @@ -8,7 +8,9 @@ - + + + From b334646414986017e62c0ea73eafc867d7f479d6 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Sun, 31 Mar 2024 02:10:47 +0900 Subject: [PATCH 5/6] udpate rviz Signed-off-by: Masaya Kataoka --- config/vrx.rviz | 193 +++------------------------------- launch/vrx_bringup.launch.xml | 9 +- 2 files changed, 18 insertions(+), 184 deletions(-) diff --git a/config/vrx.rviz b/config/vrx.rviz index 26426cb..fcd6051 100644 --- a/config/vrx.rviz +++ b/config/vrx.rviz @@ -10,10 +10,11 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 + - /RobotModel1 + - /RobotModel1/Status1 - /Sensing1/lidar1 - - /Perception1/ConcatenatedPoints1/Autocompute Value Bounds1 + - /Perception1 - /Perception1/GridMap1 - - /Plannig1/Behavior1/Status1 Splitter Ratio: 0.5 Tree Height: 568 - Class: rviz_common/Tool Properties @@ -227,8 +228,8 @@ Visualization Manager: - Alpha: 0.800000011920929 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 27.91808319091797 - Min Value: -0.9291532039642334 + Max Value: 113.64582824707031 + Min Value: -107.36042785644531 Value: true Axis: Z Channel Name: intensity @@ -262,176 +263,6 @@ Visualization Manager: Name: Sensing - Class: rviz_common/Group Displays: - - Alpha: 0.800000011920929 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.66472327709198 - Min Value: -0.7456226944923401 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 204; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: RearLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Spheres - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/rear_lidar/points_transform_node/output - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 0.800000011920929 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.66472327709198 - Min Value: -0.7456226944923401 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 138; 226; 52 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: FrontLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Spheres - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/front_lidar/points_transform_node/output - 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_default_plugins/PointCloud2 - Color: 114; 159; 207 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: -999999 - Min Color: 0; 0; 0 - Min Intensity: 999999 - Name: RightLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/right_lidar/points_transform_node/output - 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_default_plugins/PointCloud2 - Color: 252; 233; 79 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: -999999 - Min Color: 0; 0; 0 - Min Intensity: 999999 - Name: LeftLidar - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.03999999910593033 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/left_lidar/points_transform_node/output - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 1 - Min Value: -0.6000000238418579 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: ConcatenatedPoints - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Boxes - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/points_concatenate_node/output - Use Fixed Frame: true - Use rainbow: true - Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -470,7 +301,7 @@ Visualization Manager: Enabled: true Name: Obstacle Namespaces: - {} + polygon: true Topic: Depth: 5 Durability Policy: Volatile @@ -616,7 +447,7 @@ Visualization Manager: Enabled: true Name: Behavior Namespaces: - "": true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -645,7 +476,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: wamv/wamv/base_link + Fixed Frame: map Frame Rate: 30 Name: root Tools: @@ -688,7 +519,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/ThirdPersonFollower - Distance: 20.860702514648438 + Distance: 10 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -703,10 +534,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.3903989791870117 - Target Frame: base_link + Pitch: 0.7853981852531433 + Target Frame: wamv/wamv/base_link Value: ThirdPersonFollower (rviz_default_plugins) - Yaw: 2.9085874557495117 + Yaw: 0.7853981852531433 Saved: ~ Window Geometry: Displays: diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml index 86a08ef..219368e 100644 --- a/launch/vrx_bringup.launch.xml +++ b/launch/vrx_bringup.launch.xml @@ -6,17 +6,20 @@ - + + + + - + From 75d581af0a70746ec03e99538462ded10cc4fde4 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 8 Apr 2024 01:05:05 +0900 Subject: [PATCH 6/6] fix topic namespace Signed-off-by: Masaya Kataoka --- src/vrx_bridge_component.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/vrx_bridge_component.cpp b/src/vrx_bridge_component.cpp index 42dd6df..6826445 100644 --- a/src/vrx_bridge_component.cpp +++ b/src/vrx_bridge_component.cpp @@ -31,7 +31,7 @@ VRXBridgeComponent::VRXBridgeComponent(const rclcpp::NodeOptions & options) "/vrx/stationkeeping/goal", 1, std::bind(&VRXBridgeComponent::Goaltopic_callback, this, std::placeholders::_1)); - gps_pub_ = this->create_publisher("/geopose", 1); + gps_pub_ = this->create_publisher("/localization/geopose", 1); imu_pub_ = this->create_publisher("/imu", 1); goal_pub_ = this->create_publisher("/move_base_simple/goal", 1); }