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 @@ - + + +