diff --git a/README.md b/README.md
index 6cae13a..6050474 100644
--- a/README.md
+++ b/README.md
@@ -81,39 +81,24 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
4. Launch ROS nodes
-* Start the base node for scout
-
- ```
- $ roslaunch scout_bringup scout_robot_base.launch
- ```
-
- The [scout_bringup/scout_minimal.launch](scout_bringup/launch/scout_minimal.launch) has 5 parameters:
-
- - port_name: specifies the port used to communicate with the robot, default = "can0"
- - simulated_robot: indicates if launching with a simulation, default = "false"
- - model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = [scout_v2.xacro](scout_base/description/scout_v2.xacro)
- - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
- - is_scout_mini:Suitable for chassis of type scout_mini,defaults = "false"
-
-* Start the base node for scout-mini
-
- ```
- $ roslaunch scout_bringup scout_mini_robot_base.launch
- ```
-
-* Start the base node for scout-min(omni mode)
-
- ```bash
- $ roslaunch scout_bringup scout_miniomni_robot_base.launch
- ```
-
-
-* Start the keyboard tele-op node
-
- ```
- $ roslaunch scout_bringup scout_teleop_keyboard.launch
- ```
-
- **SAFETY PRECAUSION**:
-
- The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary.
+* Start the base node for scout using the [scout_bringup/launch/scout_robot_base.launch](scout_bringup/launch/scout_robot_base.launch) file.
+ * Launch Examples:
+ - Scout robot: `roslaunch scout_bringup scout_robot_base.launch`
+ - Scout mini robot: `roslaunch scout_bringup scout_robot_base.launch is_scout_mini:=true`
+ - Scout mini omni robot: `roslaunch scout_bringup scout_robot_base.launch is_scout_mini:=true is_scout_omni:=true`
+ * The file launches the following nodes:
+ - [scout_base/src/scout_base_node](scout_base/src/scout_base_node.cpp) - which connects to the physical robot via the CAN interface or simulates a robot.
+ - [robot_state_publisher](http://wiki.ros.org/robot_state_publisher) - which publishes the robot transforms using a URDF.
+ - [rviz](http://wiki.ros.org/rviz) - if enabled
+ * The launch file has 8 parameters:
+ - port_name: specifies the port used to communicate with the robot, default = "can0"
+ - simulated_robot: indicates if launching with a simulation, default = "false"
+ - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
+ - is_scout_mini: set to true for chassis of type scout_mini, defaults = "false"
+ - is_scout_omni: set to true for chassis of type scout_mini_omni, defaults = "false"
+ - pub_tf: set to true to publish the odom to base_link transform on /tf, defaults = "true"
+ - rviz_on: set to true to launch RVIZ, defaults = "false"
+ - rviz_config: set the RVIZ config file to use, defaults = "scout_bringup/rviz/scout.rviz"
+
+* Start the keyboard tele-op node: `roslaunch scout_bringup scout_teleop_keyboard.launch`
+ - **SAFETY PRECAUTION**: The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary.
diff --git a/scout_base/launch/display_model.launch b/scout_base/launch/display_model.launch
deleted file mode 100644
index 17270a5..0000000
--- a/scout_base/launch/display_model.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
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-
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-
-
\ No newline at end of file
diff --git a/scout_base/launch/scout_base.launch b/scout_base/launch/scout_base.launch
index a02dc33..b73e131 100644
--- a/scout_base/launch/scout_base.launch
+++ b/scout_base/launch/scout_base.launch
@@ -9,6 +9,7 @@
* CAN bus: 500k
* UART: 115200, Parity None, 8-bit Data, 1 Stop Bit
-->
+
@@ -16,13 +17,13 @@
-
+
-
+
diff --git a/scout_base/launch/scout_mini_base.launch b/scout_base/launch/scout_mini_base.launch
deleted file mode 100644
index 2e6bfc0..0000000
--- a/scout_base/launch/scout_mini_base.launch
+++ /dev/null
@@ -1,30 +0,0 @@
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diff --git a/scout_base/launch/scout_mini_omni.launch b/scout_base/launch/scout_mini_omni.launch
deleted file mode 100644
index 982ca91..0000000
--- a/scout_base/launch/scout_mini_omni.launch
+++ /dev/null
@@ -1,30 +0,0 @@
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diff --git a/scout_base/rviz/model_display.rviz b/scout_base/rviz/model_display.rviz
deleted file mode 100644
index 337a0b1..0000000
--- a/scout_base/rviz/model_display.rviz
+++ /dev/null
@@ -1,209 +0,0 @@
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- - /RobotModel1
- Splitter Ratio: 0.5
- Tree Height: 732
- - 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
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: ""
-Preferences:
- PromptSaveOnExit: true
-Toolbars:
- toolButtonStyle: 2
-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
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- chassis_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- inertial_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- rear_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- rear_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Class: rviz/TF
- Enabled: true
- Frame Timeout: 15
- Frames:
- All Enabled: true
- base_link:
- Value: true
- chassis_link:
- Value: true
- front_left_wheel_link:
- Value: true
- front_right_wheel_link:
- Value: true
- inertial_link:
- Value: true
- rear_left_wheel_link:
- Value: true
- rear_right_wheel_link:
- Value: true
- Marker Scale: 1
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- base_link:
- chassis_link:
- front_left_wheel_link:
- {}
- front_right_wheel_link:
- {}
- rear_left_wheel_link:
- {}
- rear_right_wheel_link:
- {}
- inertial_link:
- {}
- Update Interval: 0
- Value: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Default Light: true
- Fixed Frame: base_link
- 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: 2.9432930946350098
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: 0.027046792209148407
- Y: -0.03490818291902542
- Z: -0.09952529519796371
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 0.5447957515716553
- Target Frame:
- Value: Orbit (rviz)
- Yaw: 4.27542781829834
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 1029
- Hide Left Dock: false
- Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: true
- Width: 1869
- X: 632
- Y: 291
diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index f35067c..3021548 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -28,49 +28,56 @@ int main(int argc, char **argv) {
private_node.getParam("is_scout_omni",is_scout_omni);
std::cout << "Working as scout omni: " << is_scout_omni << std::endl;
+ bool simulated_robot = false;
+ private_node.getParam("simulated_robot",simulated_robot);
+ std::cout << "Simulated robot: " << simulated_robot << std::endl;
+
// check protocol version
ProtocolDetector detector;
- try
- {
- detector.Connect("can0");
- auto proto = detector.DetectProtocolVersion(5);
- if(is_scout_mini && is_scout_omni)
- {
- if (proto == ProtocolVersion::AGX_V1) {
- std::cout << "Detected protocol: AGX_V1 omni" << std::endl;
- robot = std::unique_ptr(
- new ScoutMiniOmniRobot(ProtocolVersion::AGX_V1));
- } else if (proto == ProtocolVersion::AGX_V2) {
- std::cout << "Detected protocol: AGX_V2 omni" << std::endl;
- robot = std::unique_ptr(
- new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2));
- } else {
- std::cout << "Detected protocol: UNKONWN" << std::endl;
- return -1;
- }
- }
- else
- {
- if (proto == ProtocolVersion::AGX_V1) {
- std::cout << "Detected protocol: AGX_V1" << std::endl;
- robot = std::unique_ptr(
- new ScoutRobot(ProtocolVersion::AGX_V1, is_scout_mini));
- } else if (proto == ProtocolVersion::AGX_V2) {
- std::cout << "Detected protocol: AGX_V2" << std::endl;
- robot = std::unique_ptr(
- new ScoutRobot(ProtocolVersion::AGX_V2, is_scout_mini));
- } else {
- std::cout << "Detected protocol: UNKONWN" << std::endl;
- return -1;
- }
- }
- if (robot == nullptr)
- std::cout << "Failed to create robot object" << std::endl;
- }
- catch (const std::exception error)
+ if (!simulated_robot)
{
- ROS_ERROR("please bringup up can or make sure can port exist");
- ros::shutdown();
+ try
+ {
+ detector.Connect("can0");
+ auto proto = detector.DetectProtocolVersion(5);
+ if(is_scout_mini && is_scout_omni)
+ {
+ if (proto == ProtocolVersion::AGX_V1) {
+ std::cout << "Detected protocol: AGX_V1 omni" << std::endl;
+ robot = std::unique_ptr(
+ new ScoutMiniOmniRobot(ProtocolVersion::AGX_V1));
+ } else if (proto == ProtocolVersion::AGX_V2) {
+ std::cout << "Detected protocol: AGX_V2 omni" << std::endl;
+ robot = std::unique_ptr(
+ new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2));
+ } else {
+ std::cout << "Detected protocol: UNKONWN" << std::endl;
+ return -1;
+ }
+ }
+ else
+ {
+ if (proto == ProtocolVersion::AGX_V1) {
+ std::cout << "Detected protocol: AGX_V1" << std::endl;
+ robot = std::unique_ptr(
+ new ScoutRobot(ProtocolVersion::AGX_V1, is_scout_mini));
+ } else if (proto == ProtocolVersion::AGX_V2) {
+ std::cout << "Detected protocol: AGX_V2" << std::endl;
+ robot = std::unique_ptr(
+ new ScoutRobot(ProtocolVersion::AGX_V2, is_scout_mini));
+ } else {
+ std::cout << "Detected protocol: UNKONWN" << std::endl;
+ return -1;
+ }
+ }
+ if (robot == nullptr)
+ std::cout << "Failed to create robot object" << std::endl;
+ }
+ catch (const std::exception error)
+ {
+ ROS_ERROR("please bringup up can or make sure can port exist");
+ ros::shutdown();
+ }
}
ScoutROSMessenger messenger(robot.get(),&node,is_scout_omni);
diff --git a/scout_base/src/scout_messenger.cpp b/scout_base/src/scout_messenger.cpp
index e766f36..972e595 100644
--- a/scout_base/src/scout_messenger.cpp
+++ b/scout_base/src/scout_messenger.cpp
@@ -25,16 +25,17 @@ namespace westonrobot
void ScoutROSMessenger::SetupSubscription()
{
+ std::string ns = ros::this_node::getNamespace();
// odometry publisher
odom_publisher_ = nh_->advertise(odom_topic_name_, 50);
- status_publisher_ = nh_->advertise("/scout_status", 10);
- BMS_status_publisher_ = nh_->advertise("/BMS_status", 10);
+ status_publisher_ = nh_->advertise(ns+"/scout_status", 10);
+ BMS_status_publisher_ = nh_->advertise(ns+"/BMS_status", 10);
// cmd subscriber
motion_cmd_subscriber_ = nh_->subscribe(
- "/cmd_vel", 5, &ScoutROSMessenger::TwistCmdCallback, this);
+ ns+"/cmd_vel", 5, &ScoutROSMessenger::TwistCmdCallback, this);
light_cmd_subscriber_ = nh_->subscribe(
- "/scout_light_control", 5, &ScoutROSMessenger::LightCmdCallback, this);
+ ns+"/scout_light_control", 5, &ScoutROSMessenger::LightCmdCallback, this);
}
void ScoutROSMessenger::TwistCmdCallback(
diff --git a/scout_bringup/launch/scout.launch b/scout_bringup/launch/scout.launch
new file mode 100644
index 0000000..b82b7e1
--- /dev/null
+++ b/scout_bringup/launch/scout.launch
@@ -0,0 +1,49 @@
+
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diff --git a/scout_bringup/launch/scout_mini_robot_base.launch b/scout_bringup/launch/scout_mini_robot_base.launch
deleted file mode 100644
index 25569eb..0000000
--- a/scout_bringup/launch/scout_mini_robot_base.launch
+++ /dev/null
@@ -1,22 +0,0 @@
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diff --git a/scout_bringup/launch/scout_miniomni_robot_base.launch b/scout_bringup/launch/scout_miniomni_robot_base.launch
deleted file mode 100644
index 9740928..0000000
--- a/scout_bringup/launch/scout_miniomni_robot_base.launch
+++ /dev/null
@@ -1,24 +0,0 @@
-
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diff --git a/scout_bringup/launch/scout_robot_base.launch b/scout_bringup/launch/scout_robot_base.launch
deleted file mode 100644
index d24136c..0000000
--- a/scout_bringup/launch/scout_robot_base.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-
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diff --git a/scout_bringup/launch/scout_teleop_keyboard.launch b/scout_bringup/launch/teleop_keyboard.launch
similarity index 91%
rename from scout_bringup/launch/scout_teleop_keyboard.launch
rename to scout_bringup/launch/teleop_keyboard.launch
index 73381f1..ed9cc1b 100644
--- a/scout_bringup/launch/scout_teleop_keyboard.launch
+++ b/scout_bringup/launch/teleop_keyboard.launch
@@ -1,3 +1,4 @@
+
diff --git a/scout_description/launch/display_scout_mini.launch b/scout_description/launch/display_scout_mini.launch
index 0d15c59..205a119 100644
--- a/scout_description/launch/display_scout_mini.launch
+++ b/scout_description/launch/display_scout_mini.launch
@@ -1,8 +1,8 @@
-
-
-
+
+
+
-
-
+
+
diff --git a/scout_description/launch/display_scout_v2.launch b/scout_description/launch/display_scout_v2.launch
index 0c63d9a..1191d6a 100644
--- a/scout_description/launch/display_scout_v2.launch
+++ b/scout_description/launch/display_scout_v2.launch
@@ -1,7 +1,8 @@
-
+
+
-
-
-
+
+
+
\ No newline at end of file
diff --git a/scout_description/launch/gazebo.launch b/scout_description/launch/gazebo.launch
index a318582..7f5f8e8 100644
--- a/scout_description/launch/gazebo.launch
+++ b/scout_description/launch/gazebo.launch
@@ -1,20 +1,24 @@
-
+
+
+
+
+
+
diff --git a/scout_description/launch/scout_mini_stock.launch b/scout_description/launch/scout_mini_stock.launch
deleted file mode 100644
index 224c922..0000000
--- a/scout_description/launch/scout_mini_stock.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-
-
-
-
-
diff --git a/scout_description/launch/scout_v2_stock.launch b/scout_description/launch/scout_v2_stock.launch
deleted file mode 100644
index 337b624..0000000
--- a/scout_description/launch/scout_v2_stock.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-
-
-
-
-
diff --git a/scout_description/rviz/navigation.rviz b/scout_description/rviz/future_you.rviz
similarity index 53%
rename from scout_description/rviz/navigation.rviz
rename to scout_description/rviz/future_you.rviz
index fbf6fef..5c8aa31 100644
--- a/scout_description/rviz/navigation.rviz
+++ b/scout_description/rviz/future_you.rviz
@@ -6,9 +6,13 @@ Panels:
Expanded:
- /Global Options1
- /Status1
+ - /Image1
- /RobotModel1
+ - /DepthCloud1/Auto Size1
+ - /Odometry1
+ - /Odometry1/Shape1
Splitter Ratio: 0.5
- Tree Height: 746
+ Tree Height: 192
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -26,7 +30,7 @@ Panels:
- Class: rviz/Time
Name: Time
SyncMode: 0
- SyncSource: ""
+ SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -52,6 +56,46 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame:
Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /yolo_image
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ 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/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic: /rslidar_points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
@@ -62,6 +106,11 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
base_link:
Alpha: 1
Show Axes: false
@@ -72,6 +121,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ front_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
front_right_wheel_link:
Alpha: 1
Show Axes: false
@@ -86,59 +139,97 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ rear_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
- Robot Description: robot_description
+ Robot Description: scout/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- - Class: rviz/TF
- Enabled: true
- Frame Timeout: 15
- Frames:
- All Enabled: true
- base_link:
- Value: true
- front_left_wheel_link:
- Value: true
- front_right_wheel_link:
- Value: true
- inertial_link:
- Value: true
- rear_left_wheel_link:
+ - Alpha: 1
+ Auto Size:
+ Auto Size Factor: 1
+ Value: true
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/DepthCloud
+ Color: 255; 255; 255
+ Color Image Topic: /camera/color/image_raw
+ Color Transformer: RGB8
+ Color Transport Hint: raw
+ Decay Time: 0
+ Depth Map Topic: /camera/aligned_depth_to_color/image_raw
+ Depth Map Transport Hint: raw
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: DepthCloud
+ Occlusion Compensation:
+ Occlusion Time-Out: 30
+ Value: false
+ Position Transformer: XYZ
+ Queue Size: 5
+ Selectable: true
+ Size (Pixels): 3
+ Style: Flat Squares
+ Topic Filter: true
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
Value: true
- rear_right_wheel_link:
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
Value: true
- Marker Alpha: 1
- Marker Scale: 1
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- base_link:
- front_left_wheel_link:
- {}
- front_right_wheel_link:
- {}
- inertial_link:
- {}
- rear_left_wheel_link:
- {}
- rear_right_wheel_link:
- {}
- Update Interval: 0
+ Value: true
+ Enabled: true
+ Keep: 0
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Queue Size: 10
+ Shape:
+ Alpha: 1
+ Axes Length: 0.10000000149011612
+ Axes Radius: 0.10000000149011612
+ Color: 0; 255; 0
+ Head Length: 0.10000000149011612
+ Head Radius: 0.009999999776482582
+ Shaft Length: 0.10000000149011612
+ Shaft Radius: 0.03999999910593033
+ Value: Arrow
+ Topic: /scout/odom
+ Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
- Fixed Frame: base_link
+ Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
@@ -162,7 +253,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 2.9432930946350098
+ Distance: 10.372005462646484
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -170,25 +261,27 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
- X: 0.027046792209148407
- Y: -0.03490818291902542
- Z: -0.09952529519796371
+ X: 2.9423415660858154
+ Y: -3.322209596633911
+ Z: 1.4482322931289673
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.5447957515716553
+ Pitch: 0.7753978371620178
Target Frame:
- Yaw: 4.27542781829834
+ Yaw: 4.105382919311523
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1043
Hide Left Dock: false
- Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000024300000375fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000018e000002240000001600fffffffb0000000a0049006d0061006700650000000231000000bc0000000000000000000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004220000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -196,7 +289,7 @@ Window Geometry:
Tool Properties:
collapsed: false
Views:
- collapsed: true
+ collapsed: false
Width: 1920
X: 0
- Y: 0
+ Y: 150
diff --git a/scout_description/rviz/rviz_navigation.rviz b/scout_description/rviz/rviz_navigation.rviz
new file mode 100644
index 0000000..5c8b2b3
--- /dev/null
+++ b/scout_description/rviz/rviz_navigation.rviz
@@ -0,0 +1,612 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Local Planner1/LocalPath1
+ - /Local Planner1/LocalCostmap1
+ - /Global Planner1/GlobalPath1
+ - /Global Planner1/GlobalCostmap1
+ - /DepthCloud1/Auto Size1
+ Splitter Ratio: 0.6050959825515747
+ Tree Height: 140
+ - 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
+ - Class: navi_multi_goals_pub_rviz_plugin/MultiNaviGoalsPanel
+ Name: MultiNaviGoalsPanel
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Nav Goal1
+ Name: Tool Properties
+ Splitter Ratio: 0.5
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+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: 50
+ Reference Frame:
+ 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
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Arrow Length: 0.30000001192092896
+ Axes Length: 0.30000001192092896
+ Axes Radius: 0.009999999776482582
+ Class: rviz/PoseArray
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.07000000029802322
+ Head Radius: 0.029999999329447746
+ Name: TebPoses
+ Queue Size: 10
+ Shaft Length: 0.23000000417232513
+ Shaft Radius: 0.009999999776482582
+ Shape: Arrow (Flat)
+ Topic: /move_base/TebLocalPlannerROS/teb_poses
+ Unreliable: false
+ Value: true
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
+ Name: TebMarker
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: LocalPath
+ 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/DWAPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 0.4000000059604645
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: LocalCostmap
+ Topic: /move_base/local_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ Enabled: true
+ Name: Local Planner
+ - Class: rviz/Group
+ Displays:
+ - 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: GlobalPath
+ 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/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: true
+ Enabled: true
+ Name: GlobalCostmap
+ Topic: /move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ Enabled: true
+ Name: Global Planner
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 85; 0; 255
+ Enabled: true
+ Name: Robot Footprint
+ Queue Size: 10
+ Topic: /move_base/local_costmap/footprint
+ 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: false
+ 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
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Arrow Length: 0.10000000149011612
+ Axes Length: 0.30000001192092896
+ Axes Radius: 0.009999999776482582
+ Class: rviz/PoseArray
+ Color: 255; 25; 0
+ Enabled: false
+ Head Length: 0.07000000029802322
+ Head Radius: 0.029999999329447746
+ Name: AMCL Particles
+ Queue Size: 10
+ Shaft Length: 0.23000000417232513
+ Shaft Radius: 0.009999999776482582
+ Shape: Arrow (Flat)
+ Topic: /particlecloud
+ Unreliable: false
+ Value: false
+ - Class: rviz/TF
+ Enabled: false
+ Filter (blacklist): ""
+ Filter (whitelist): ""
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Alpha: 1
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz/Odometry
+ 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
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Queue Size: 10
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /odom
+ Unreliable: false
+ Value: false
+ Enabled: true
+ Name: Robot
+ - Class: rviz/TF
+ Enabled: true
+ Filter (blacklist): ""
+ Filter (whitelist): ""
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ base_link:
+ Value: true
+ camera_aligned_depth_to_color_frame:
+ Value: true
+ camera_bottom_screw_frame:
+ Value: true
+ camera_color_frame:
+ Value: true
+ camera_color_optical_frame:
+ Value: true
+ camera_depth_frame:
+ Value: true
+ camera_depth_optical_frame:
+ Value: true
+ camera_link:
+ Value: true
+ front_left_wheel_link:
+ Value: true
+ front_mount:
+ Value: true
+ front_right_wheel_link:
+ Value: true
+ inertial_link:
+ Value: true
+ map:
+ Value: true
+ odom:
+ Value: true
+ payload:
+ Value: true
+ rear_left_wheel_link:
+ Value: true
+ rear_mount:
+ Value: true
+ rear_right_wheel_link:
+ Value: true
+ rslidar:
+ Value: true
+ Marker Alpha: 1
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ odom:
+ base_link:
+ front_left_wheel_link:
+ {}
+ front_mount:
+ {}
+ front_right_wheel_link:
+ {}
+ inertial_link:
+ {}
+ payload:
+ camera_bottom_screw_frame:
+ camera_link:
+ camera_aligned_depth_to_color_frame:
+ camera_color_optical_frame:
+ {}
+ camera_color_frame:
+ {}
+ camera_depth_frame:
+ camera_depth_optical_frame:
+ {}
+ rslidar:
+ {}
+ rear_left_wheel_link:
+ {}
+ rear_mount:
+ {}
+ rear_right_wheel_link:
+ {}
+ 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/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): 0.10000000149011612
+ Style: Flat Squares
+ Topic: /scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: visualization_marker
+ Name: Marker
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ inertial_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ payload:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rslidar:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Alpha: 1
+ Auto Size:
+ Auto Size Factor: 1
+ Value: true
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/DepthCloud
+ Color: 255; 255; 255
+ Color Image Topic: /camera/color/image_raw
+ Color Transformer: RGB8
+ Color Transport Hint: raw
+ Decay Time: 0
+ Depth Map Topic: /camera/aligned_depth_to_color/image_raw
+ Depth Map Transport Hint: raw
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: DepthCloud
+ Occlusion Compensation:
+ Occlusion Time-Out: 30
+ Value: false
+ Position Transformer: XYZ
+ Queue Size: 5
+ Selectable: true
+ Size (Pixels): 3
+ Style: Flat Squares
+ Topic Filter: true
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Arrow Length: 0.30000001192092896
+ Axes Length: 0.30000001192092896
+ Axes Radius: 0.009999999776482582
+ Class: rviz/PoseArray
+ Color: 255; 25; 0
+ Enabled: false
+ Head Length: 0.07000000029802322
+ Head Radius: 0.029999999329447746
+ Name: PoseArray
+ Queue Size: 10
+ Shaft Length: 0.23000000417232513
+ Shaft Radius: 0.009999999776482582
+ Shape: Arrow (Flat)
+ Topic: /particlecloud
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /camera/color/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 255; 255; 255
+ 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_temp
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 19.861404418945312
+ 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: 8.668338775634766
+ Y: -3.7373416423797607
+ Z: -4.512639999389648
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.48479682207107544
+ Target Frame:
+ Yaw: 2.5704281330108643
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1016
+ Hide Left Dock: false
+ Hide Right Dock: true
+ Image:
+ collapsed: false
+ MultiNaviGoalsPanel:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016f0000035afc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000026004d0075006c00740069004e0061007600690047006f0061006c007300500061006e0065006c010000010c00000154000000c900fffffffb0000000a0049006d0061006700650100000266000000cf0000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000033b0000005c0000005c00ffffff000000010000010f000002c4fc0200000002fb0000000a005600690065007700730000000028000002c4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073800000132fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c30000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1848
+ X: 72
+ Y: 27
diff --git a/scout_description/rviz/model_display.rviz b/scout_description/rviz/scout.rviz
similarity index 85%
rename from scout_description/rviz/model_display.rviz
rename to scout_description/rviz/scout.rviz
index 9329100..e11e5ed 100644
--- a/scout_description/rviz/model_display.rviz
+++ b/scout_description/rviz/scout.rviz
@@ -6,6 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /Status1
+ - /TF1/Frames1
Splitter Ratio: 0.42352941632270813
Tree Height: 719
- Class: rviz/Selection
@@ -71,6 +72,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ front_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
front_right_wheel_link:
Alpha: 1
Show Axes: false
@@ -85,6 +90,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ rear_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
rear_right_wheel_link:
Alpha: 1
Show Axes: false
@@ -98,39 +107,52 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
+ Filter (blacklist): ""
+ Filter (whitelist): ""
Frame Timeout: 15
Frames:
- All Enabled: true
+ All Enabled: false
base_link:
Value: true
front_left_wheel_link:
- Value: true
+ Value: false
+ front_mount:
+ Value: false
front_right_wheel_link:
- Value: true
+ Value: false
inertial_link:
+ Value: false
+ odom:
Value: true
rear_left_wheel_link:
- Value: true
+ Value: false
+ rear_mount:
+ Value: false
rear_right_wheel_link:
- Value: true
+ Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
- Show Arrows: false
+ Show Arrows: true
Show Axes: true
Show Names: true
Tree:
- base_link:
- front_left_wheel_link:
- {}
- front_right_wheel_link:
- {}
- inertial_link:
- {}
- rear_left_wheel_link:
- {}
- rear_right_wheel_link:
- {}
+ odom:
+ base_link:
+ front_left_wheel_link:
+ {}
+ front_mount:
+ {}
+ front_right_wheel_link:
+ {}
+ inertial_link:
+ {}
+ rear_left_wheel_link:
+ {}
+ rear_mount:
+ {}
+ rear_right_wheel_link:
+ {}
Update Interval: 0
Value: true
Enabled: true
@@ -161,7 +183,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 2.1784212589263916
+ Distance: 4.299817085266113
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
diff --git a/scout_description/rviz/scout_mini_model_display.rviz b/scout_description/rviz/scout_mini_model_display.rviz
deleted file mode 100644
index 8bb68a7..0000000
--- a/scout_description/rviz/scout_mini_model_display.rviz
+++ /dev/null
@@ -1,187 +0,0 @@
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- Splitter Ratio: 0.5
- Tree Height: 719
- - 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: ""
-Preferences:
- PromptSaveOnExit: true
-Toolbars:
- toolButtonStyle: 2
-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
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: ""
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_mount:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- inertial_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- rear_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- rear_mount:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- rear_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Class: rviz/TF
- Enabled: false
- Frame Timeout: 15
- Frames:
- All Enabled: true
- Marker Alpha: 1
- Marker Scale: 1
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- {}
- Update Interval: 0
- Value: false
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Default Light: true
- Fixed Frame: base_link
- 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: 1.1361777782440186
- 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: 0.11484470963478088
- Y: 0.043633561581373215
- Z: -0.06415828317403793
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 0.7802029848098755
- Target Frame:
- Yaw: 5.441723823547363
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 1016
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: false
- Width: 1848
- X: 72
- Y: 27
diff --git a/scout_description/urdf/empty.urdf b/scout_description/urdf/empty.urdf
deleted file mode 100644
index 7cedc97..0000000
--- a/scout_description/urdf/empty.urdf
+++ /dev/null
@@ -1,6 +0,0 @@
-
-
-
diff --git a/scout_description/urdf/scout_mini.urdf.xacro b/scout_description/urdf/scout_mini.xacro
similarity index 82%
rename from scout_description/urdf/scout_mini.urdf.xacro
rename to scout_description/urdf/scout_mini.xacro
index 5872d97..38bb28c 100644
--- a/scout_description/urdf/scout_mini.urdf.xacro
+++ b/scout_description/urdf/scout_mini.xacro
@@ -3,7 +3,6 @@
-
@@ -21,6 +20,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -42,6 +61,13 @@
+
+
+
+
+
+
+
@@ -90,7 +116,6 @@
-
diff --git a/scout_description/urdf/scout_mini_wheel.xacro b/scout_description/urdf/scout_mini_wheel.xacro
index 5f2edb1..8230a66 100644
--- a/scout_description/urdf/scout_mini_wheel.xacro
+++ b/scout_description/urdf/scout_mini_wheel.xacro
@@ -25,7 +25,7 @@
-
+
diff --git a/scout_description/urdf/scout_v2.xacro b/scout_description/urdf/scout_v2.xacro
index 65b4d13..8778c0c 100644
--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -4,7 +4,6 @@
xmlns:xacro="http://ros.org/wiki/xacro">
-
@@ -112,7 +111,6 @@
-
diff --git a/scout_description/urdf/scout_wheel_type1.xacro b/scout_description/urdf/scout_wheel_type1.xacro
index 512f381..9425e2b 100644
--- a/scout_description/urdf/scout_wheel_type1.xacro
+++ b/scout_description/urdf/scout_wheel_type1.xacro
@@ -53,7 +53,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-
+
diff --git a/scout_description/urdf/scout_wheel_type2.xacro b/scout_description/urdf/scout_wheel_type2.xacro
index 48f6dd4..8dc8d63 100644
--- a/scout_description/urdf/scout_wheel_type2.xacro
+++ b/scout_description/urdf/scout_wheel_type2.xacro
@@ -53,7 +53,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-
+