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ctu-mrs · Apr 12, 2024 · 13e7258 · 13e7258
2 parents 921505e + a7bfc2c
commit 13e7258
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Showing 4 changed files with 1,220 additions and 704 deletions.
diff --git a/rviz/two_drone_visualization.rviz b/rviz/two_drone_visualization.rviz
@@ -6,9 +6,12 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /Grid1
         - /Hypotheses1/Covariance1
+        - /Filtered1/Covariance1
+        - /Filtered1/Covariance1/Position1
       Splitter Ratio: 0.5
-    Tree Height: 701
+    Tree Height: 363
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -49,7 +52,7 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 10
+      Plane Cell Count: 20
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
@@ -79,15 +82,15 @@ Visualization Manager:
       Queue Size: 10
       Shaft Length: 1
       Shaft Radius: 0.05000000074505806
-      Shape: Arrow
+      Shape: Axes
       Topic: /uav1/uvdar/measuredPoses
       Unreliable: false
       Value: true
     - Alpha: 1
       Axes Length: 1
       Axes Radius: 0.10000000149011612
       Class: mrs_rviz_plugins/PoseWithCovarianceArray
-      Color: 255; 25; 0
+      Color: 255; 255; 255
       Covariance:
         Orientation:
           Alpha: 0.5
@@ -114,6 +117,37 @@ Visualization Manager:
       Topic: /uav1/uvdar/constituentHypotheses
       Unreliable: false
       Value: true
+    - Alpha: 0.5
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: mrs_rviz_plugins/PoseWithCovarianceArray
+      Color: 255; 0; 0
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: false
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: false
+        Value: false
+      Enabled: true
+      Head Length: 0.029999999329447746
+      Head Radius: 0.10000000149011612
+      Name: HypothesesTentative
+      Queue Size: 10
+      Shaft Length: 0.30000001192092896
+      Shaft Radius: 0.029999999329447746
+      Shape: Arrow
+      Topic: /uav1/uvdar/constituentHypothesesTentative
+      Unreliable: false
+      Value: true
     - Alpha: 1
       Class: rviz/Axes
       Enabled: true
@@ -123,6 +157,37 @@ Visualization Manager:
       Reference Frame: uav1/fcu
       Show Trail: false
       Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: mrs_rviz_plugins/PoseWithCovarianceArray
+      Color: 255; 25; 0
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 85; 255; 0
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Filtered
+      Queue Size: 10
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /uav1/uvdar/filteredPoses
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -150,42 +215,36 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
-      Distance: 13.165216445922852
+      Angle: -1.5709999799728394
+      Class: rviz/TopDownOrtho
       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: 0.23903301358222961
-        Y: 1.1742606163024902
-        Z: 0.38564643263816833
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.8952029347419739
+      Scale: 52.86750030517578
       Target Frame: <Fixed Frame>
-      Yaw: 3.4203882217407227
+      X: -0.4788692593574524
+      Y: 0.25147315859794617
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: false
-  Height: 999
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000348fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000348000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000348fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e00000348000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000033400fffffffb0000000800540069006d006501000000000000045000000000000000000000028f0000034800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+    collapsed: true
+  Height: 1401
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003c7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003e000003c7000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000118000004dffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000004df000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f500000039fc0100000002fb0000000800540069006d00650100000000000004f50000033400fffffffb0000000800540069006d00650100000000000004500000000000000000000004f5000004df00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
-  Width: 1280
-  X: 4480
-  Y: 0
+    collapsed: true
+  Width: 1269
+  X: 3202
+  Y: 5
diff --git a/scripts/two_drones/config/custom_config.yaml b/scripts/two_drones/config/custom_config.yaml
@@ -24,3 +24,10 @@ mrs_uav_managers:
         controller: "MpcController"
         # controller: "Se3Controller"
         tracker: "MpcTracker"
+
+mrs_uav_trackers:
+  mpc_tracker:
+    collision_avoidance:
+      radius: 2.0 # [m]
+      enabled: true
+
diff --git a/scripts/two_drones/session.yml b/scripts/two_drones/session.yml
@@ -6,7 +6,7 @@ attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
 pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
-startup_window: status
+startup_window: uv_observer
 windows:
   - roscore:
       layout: tiled