From cdd425c58477533c0ba38cbe0586fb213f0926d4 Mon Sep 17 00:00:00 2001 From: Your Name Date: Tue, 21 Jan 2025 09:49:12 +0100 Subject: [PATCH] update --- CMakeLists.txt | 2 +- launch/nav_rviz_view.launch | 2 +- rviz/rviz.rviz | 333 ++++++++++++++++++++++++++++++++++++ 3 files changed, 335 insertions(+), 2 deletions(-) create mode 100644 rviz/rviz.rviz diff --git a/CMakeLists.txt b/CMakeLists.txt index a90cb43..dd3cbf7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -81,7 +81,7 @@ install(DIRECTORY description # Install launch files install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - FILES_MATCHING PATTERN "*.launch*" + FILES_MATCHING PATTERN "*.launch" ) # Install world files diff --git a/launch/nav_rviz_view.launch b/launch/nav_rviz_view.launch index c8796dc..d8fc42d 100644 --- a/launch/nav_rviz_view.launch +++ b/launch/nav_rviz_view.launch @@ -3,6 +3,6 @@ - + \ No newline at end of file diff --git a/rviz/rviz.rviz b/rviz/rviz.rviz new file mode 100644 index 0000000..fe1def9 --- /dev/null +++ b/rviz/rviz.rviz @@ -0,0 +1,333 @@ +Panels: + - Class: rviz/Displays + Help Height: 104 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Map1 + Splitter Ratio: 0.5 + Tree Height: 1436 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 0 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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: + Value: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + caster_wheel: + Value: true + chassis: + Value: true + laser: + Value: true + left_wheel: + Value: true + map: + Value: true + odom: + Value: true + right_wheel: + Value: true + robot_imu: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_footprint: + base_link: + {} + chassis: + caster_wheel: + {} + laser: + {} + left_wheel: + {} + right_wheel: + {} + robot_imu: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + 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: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: PoseWithCovariance + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /initialpose + Unreliable: false + 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/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /scan_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + 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: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: PoseWithCovariance + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /robot_pose_ekf/odom_combined + Unreliable: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /clicked_point + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + 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: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + 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 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.9753978252410889 + Target Frame: + Yaw: 0.3253932297229767 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1812 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000017b00000652fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000052000006520000011e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011100000652fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000005200000652000000e000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000043800000045fc0100000002fb0000000800540069006d00650100000000000004380000044500fffffffb0000000800540069006d00650100000000000004500000000000000000000002b40000065200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1080 + X: 0 + Y: 0