Merge branch 'main' into docking_infra

Signed-off-by: Steve Macenski <[email protected]>
ros-navigation · Aug 20, 2024 · 27aab64 · 27aab64
2 parents fd7f0e7 + c2e4aab
commit 27aab64
Show file tree

Hide file tree

Showing 37 changed files with 1,107 additions and 434 deletions.
diff --git a/nav2_bringup/rviz/nav2_namespaced_view.rviz b/nav2_bringup/rviz/nav2_namespaced_view.rviz
@@ -0,0 +1,379 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 195
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /RobotModel1/Status1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Global Planner1/Global Costmap1
+      Splitter Ratio: 0.5833333134651184
+    Tree Height: 464
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: nav2_rviz_plugins/Navigation 2
+    Name: Navigation 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      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: <Fixed Frame>
+      Value: true
+    - 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_namespace>/robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - 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: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: <robot_namespace>/scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - 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: 255; 255; 255
+      Color Transformer: ""
+      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: Bumper Hit
+      Position Transformer: ""
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07999999821186066
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: <robot_namespace>/mobile_base/sensors/bumper_pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: <robot_namespace>/map
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: nav2_rviz_plugins/ParticleCloud
+      Color: 0; 180; 0
+      Enabled: true
+      Max Arrow Length: 0.3
+      Min Arrow Length: 0.02
+      Name: Amcl Particle Swarm
+      Shape: Arrow (Flat)
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: <robot_namespace>/particle_cloud
+      Value: true
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.30000001192092896
+          Class: rviz_default_plugins/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: Global Costmap
+          Topic:
+            Depth: 1
+            Durability Policy: Transient Local
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/global_costmap/costmap
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 255; 0; 0
+          Enabled: true
+          Head Diameter: 0.019999999552965164
+          Head Length: 0.019999999552965164
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: Arrows
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.004999999888241291
+          Shaft Length: 0.019999999552965164
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/plan
+          Value: true
+        - Alpha: 1
+          Class: rviz_default_plugins/Polygon
+          Color: 25; 255; 0
+          Enabled: false
+          Name: Polygon
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/global_costmap/published_footprint
+          Value: false
+      Enabled: true
+      Name: Global Planner
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.699999988079071
+          Class: rviz_default_plugins/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: Local Costmap
+          Topic:
+            Depth: 1
+            Durability Policy: Transient Local
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/local_costmap/costmap
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 0; 12; 255
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Local Plan
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/local_plan
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Trajectories
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/marker
+          Value: false
+        - Alpha: 1
+          Class: rviz_default_plugins/Polygon
+          Color: 25; 255; 0
+          Enabled: true
+          Name: Polygon
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: <robot_namespace>/local_costmap/published_footprint
+          Value: true
+      Enabled: true
+      Name: Controller
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: <robot_namespace>/waypoints
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: <robot_namespace>/initialpose
+    - Class: nav2_rviz_plugins/GoalTool
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: -1.5708
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 160
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 914
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Navigation 2:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000003070000006e0000006200ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1545
+  X: 186
+  Y: 117
+