udpate rviz

Signed-off-by: Masaya Kataoka <[email protected]>
OUXT-Polaris · Mar 30, 2024 · b334646 · b334646
1 parent 863d365
commit b334646
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Showing 2 changed files with 18 additions and 184 deletions.
diff --git 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
@@ -6,17 +6,20 @@
     </composable_node>
   </node_container>
 
-  <include file="$(find-pkg-share robotx_ekf)/launch/ekf.launch.xml"/>
+  <include file="$(find-pkg-share robotx_ekf)/launch/ekf.launch.xml">
+    <arg name="use_sim_time" value="true"/>
+    <arg name="vrx" value="true"/>
+  </include>
 
   <include file="$(find-pkg-share perception_bringup)/launch/perception_bringup.launch.xml">
     <arg name="use_sim_time" value="true"/>
     <arg name="vrx" value="true"/>
   </include>
 
-  <include file="$(find-pkg-share robotx_planner_bringup)/launch/planner_bringup.launch.py">
+  <!-- <include file="$(find-pkg-share robotx_planner_bringup)/launch/planner_bringup.launch.py">
     <arg name="behavior_config_package" value="vrx_bridge"/>
     <arg name="behavior_config_filepath" value="config/$(var behavior).yaml"/>
-  </include>
+  </include> -->
 
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share vrx_bridge)/config/vrx.rviz">
   </node>