From 57161b1a63be4d1619e7529a90e3d1eb067fa922 Mon Sep 17 00:00:00 2001 From: James Mount Date: Thu, 1 Jun 2023 10:35:34 +1000 Subject: [PATCH 01/15] Simplified scout base launch components. Updated readme. --- README.md | 29 ++++++------------ scout_base/launch/scout_mini_base.launch | 30 ------------------- scout_base/launch/scout_mini_omni.launch | 30 ------------------- .../launch/scout_mini_robot_base.launch | 22 -------------- .../launch/scout_miniomni_robot_base.launch | 24 --------------- scout_bringup/launch/scout_robot_base.launch | 13 +++++--- 6 files changed, 18 insertions(+), 130 deletions(-) delete mode 100644 scout_base/launch/scout_mini_base.launch delete mode 100644 scout_base/launch/scout_mini_omni.launch delete mode 100644 scout_bringup/launch/scout_mini_robot_base.launch delete mode 100644 scout_bringup/launch/scout_miniomni_robot_base.launch diff --git a/README.md b/README.md index 6cae13a..281fd51 100644 --- a/README.md +++ b/README.md @@ -81,31 +81,20 @@ 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: +* Start the base node for scout using the `scout_robot_base.launch` file. The [scout_bringup/scout_robot_base.launch](scout_bringup/launch/scout_robot_base.launch) has 7 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 - ``` + - 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 = "false" + +* 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` * Start the keyboard tele-op node 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 @@ - - - - - - - - - - - - - - - - - - - - - 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 @@ - - - - - - - - - - - - - - - - - - - - - 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 @@ - - - - - - - - - - - - - - - - - - - - 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 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/scout_bringup/launch/scout_robot_base.launch b/scout_bringup/launch/scout_robot_base.launch index d24136c..20d3d9e 100644 --- a/scout_bringup/launch/scout_robot_base.launch +++ b/scout_bringup/launch/scout_robot_base.launch @@ -1,17 +1,22 @@ - - + + + - + + + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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_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 - + From 54ead7e274987895f5e983fff5da2d69c0e370e7 Mon Sep 17 00:00:00 2001 From: James Mount Date: Thu, 1 Jun 2023 12:12:02 +1000 Subject: [PATCH 04/15] Cleaned up components for launching robot tf tree and rviz --- README.md | 46 ++-- scout_base/launch/display_model.launch | 10 - scout_bringup/launch/scout_robot_base.launch | 20 +- .../rviz/scout.rviz | 74 ++++--- scout_description/rviz/model_display.rviz | 201 ----------------- scout_description/rviz/navigation.rviz | 202 ------------------ .../rviz/scout_mini_model_display.rviz | 187 ---------------- scout_description/urdf/scout_mini.urdf.xacro | 97 --------- 8 files changed, 79 insertions(+), 758 deletions(-) delete mode 100644 scout_base/launch/display_model.launch rename scout_base/rviz/model_display.rviz => scout_bringup/rviz/scout.rviz (78%) delete mode 100644 scout_description/rviz/model_display.rviz delete mode 100644 scout_description/rviz/navigation.rviz delete mode 100644 scout_description/rviz/scout_mini_model_display.rviz delete mode 100644 scout_description/urdf/scout_mini.urdf.xacro diff --git a/README.md b/README.md index 281fd51..7b07070 100644 --- a/README.md +++ b/README.md @@ -81,28 +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 using the `scout_robot_base.launch` file. The [scout_bringup/scout_robot_base.launch](scout_bringup/launch/scout_robot_base.launch) has 7 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: 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 = "false" - -* 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` - - -* 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 = "false" + - 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 @@ - - - - - - - - - - \ No newline at end of file diff --git a/scout_bringup/launch/scout_robot_base.launch b/scout_bringup/launch/scout_robot_base.launch index 20d3d9e..6f165d0 100644 --- a/scout_bringup/launch/scout_robot_base.launch +++ b/scout_bringup/launch/scout_robot_base.launch @@ -1,14 +1,19 @@ - + - + + + + + + @@ -19,8 +24,13 @@ - + + + + + + + + diff --git a/scout_base/rviz/model_display.rviz b/scout_bringup/rviz/scout.rviz similarity index 78% rename from scout_base/rviz/model_display.rviz rename to scout_bringup/rviz/scout.rviz index 337a0b1..b9f1b2c 100644 --- a/scout_base/rviz/model_display.rviz +++ b/scout_bringup/rviz/scout.rviz @@ -6,9 +6,9 @@ Panels: Expanded: - /Global Options1 - /Status1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 732 + - /TF1/Frames1 + Splitter Ratio: 0.42352941632270813 + Tree Height: 725 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -24,7 +24,6 @@ Panels: Name: Views Splitter Ratio: 0.5 - Class: rviz/Time - Experimental: false Name: Time SyncMode: 0 SyncSource: "" @@ -67,16 +66,16 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - chassis_link: + Value: true + front_left_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - front_left_wheel_link: + front_mount: Alpha: 1 Show Axes: false Show Trail: false - Value: true front_right_wheel_link: Alpha: 1 Show Axes: false @@ -91,6 +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 @@ -106,46 +109,55 @@ Visualization Manager: Enabled: true Frame Timeout: 15 Frames: - All Enabled: true + All Enabled: false base_link: Value: true - chassis_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: true Show Axes: true Show Names: true Tree: - base_link: - chassis_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: {} - inertial_link: - {} Update Interval: 0 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: @@ -169,33 +181,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 2.9432930946350098 + Distance: 4.299817085266113 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: 0.027046792209148407 - Y: -0.03490818291902542 - Z: -0.09952529519796371 + X: 0.07928819954395294 + Y: -0.07183374464511871 + Z: -0.08324597030878067 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: 0.8697980642318726 Target Frame: - Value: Orbit (rviz) - Yaw: 4.27542781829834 + Yaw: 3.790827751159668 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1029 + Height: 1016 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001560000035efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000031600fffffffb0000000800540069006d00650100000000000004500000000000000000000005da0000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -204,6 +216,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1869 - X: 632 - Y: 291 + Width: 1846 + X: 74 + Y: 27 diff --git a/scout_description/rviz/model_display.rviz b/scout_description/rviz/model_display.rviz deleted file mode 100644 index 9329100..0000000 --- a/scout_description/rviz/model_display.rviz +++ /dev/null @@ -1,201 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.42352941632270813 - 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: Links in Alphabetic Order - 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_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 - 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 Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: false - 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 - 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: 2.1784212589263916 - 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: 0.07928819954395294 - Y: -0.07183374464511871 - Z: -0.08324597030878067 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.8697980642318726 - Target Frame: - Yaw: 3.790827751159668 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005dc0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - 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/navigation.rviz b/scout_description/rviz/navigation.rviz deleted file mode 100644 index fbf6fef..0000000 --- a/scout_description/rviz/navigation.rviz +++ /dev/null @@ -1,202 +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: 746 - - 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: Links in Alphabetic Order - 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_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 - 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 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 - 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 - Field of View: 0.7853981852531433 - 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: - Yaw: 4.27542781829834 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1043 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1920 - X: 0 - Y: 0 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/scout_mini.urdf.xacro b/scout_description/urdf/scout_mini.urdf.xacro deleted file mode 100644 index 5872d97..0000000 --- a/scout_description/urdf/scout_mini.urdf.xacro +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 0ee3e3d6c8abac376904d02c236025cd38349d0e Mon Sep 17 00:00:00 2001 From: James Mount Date: Thu, 1 Jun 2023 12:34:42 +1000 Subject: [PATCH 05/15] Change pub_tf default to true --- README.md | 2 +- scout_bringup/launch/scout_robot_base.launch | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 7b07070..6050474 100644 --- a/README.md +++ b/README.md @@ -96,7 +96,7 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main - 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 = "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" diff --git a/scout_bringup/launch/scout_robot_base.launch b/scout_bringup/launch/scout_robot_base.launch index 6f165d0..69b3182 100644 --- a/scout_bringup/launch/scout_robot_base.launch +++ b/scout_bringup/launch/scout_robot_base.launch @@ -6,7 +6,7 @@ - + From d5fa5b7444748adce28c6288f284f9570ebe4c21 Mon Sep 17 00:00:00 2001 From: James Mount Date: Wed, 12 Jul 2023 20:55:43 +1000 Subject: [PATCH 06/15] Renamed launch files. --- scout_bringup/launch/{scout_robot_base.launch => scout.launch} | 0 .../{scout_teleop_keyboard.launch => teleop_keyboard.launch} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename scout_bringup/launch/{scout_robot_base.launch => scout.launch} (100%) rename scout_bringup/launch/{scout_teleop_keyboard.launch => teleop_keyboard.launch} (100%) diff --git a/scout_bringup/launch/scout_robot_base.launch b/scout_bringup/launch/scout.launch similarity index 100% rename from scout_bringup/launch/scout_robot_base.launch rename to scout_bringup/launch/scout.launch diff --git a/scout_bringup/launch/scout_teleop_keyboard.launch b/scout_bringup/launch/teleop_keyboard.launch similarity index 100% rename from scout_bringup/launch/scout_teleop_keyboard.launch rename to scout_bringup/launch/teleop_keyboard.launch From d60acca80155cac8c514dff1107ab213c2881322 Mon Sep 17 00:00:00 2001 From: James Mount Date: Wed, 12 Jul 2023 20:59:53 +1000 Subject: [PATCH 07/15] Improved comments --- scout_bringup/launch/scout.launch | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/scout_bringup/launch/scout.launch b/scout_bringup/launch/scout.launch index 69b3182..5cbab37 100644 --- a/scout_bringup/launch/scout.launch +++ b/scout_bringup/launch/scout.launch @@ -24,13 +24,14 @@ - + + + - - + From 4efdebbe5e75882dcc0361b977cc3b233f1bcaba Mon Sep 17 00:00:00 2001 From: James Mount Date: Wed, 12 Jul 2023 21:03:59 +1000 Subject: [PATCH 08/15] removed empty.urdf file --- scout_description/urdf/empty.urdf | 6 ------ scout_description/urdf/scout_mini.xacro | 2 -- scout_description/urdf/scout_v2.xacro | 2 -- 3 files changed, 10 deletions(-) delete mode 100644 scout_description/urdf/empty.urdf 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.xacro b/scout_description/urdf/scout_mini.xacro index 5872d97..d98a8ca 100644 --- a/scout_description/urdf/scout_mini.xacro +++ b/scout_description/urdf/scout_mini.xacro @@ -3,7 +3,6 @@ - @@ -90,7 +89,6 @@ - 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 @@ - From 8f6ebe43b636a0c749933a236289ff42d534251c Mon Sep 17 00:00:00 2001 From: James Mount Date: Wed, 12 Jul 2023 21:08:17 +1000 Subject: [PATCH 09/15] moved scout.rviz from scout_bringup to scout_description package. --- scout_bringup/launch/scout.launch | 2 +- {scout_bringup => scout_description}/rviz/scout.rviz | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename {scout_bringup => scout_description}/rviz/scout.rviz (100%) diff --git a/scout_bringup/launch/scout.launch b/scout_bringup/launch/scout.launch index 5cbab37..9546bc1 100644 --- a/scout_bringup/launch/scout.launch +++ b/scout_bringup/launch/scout.launch @@ -10,7 +10,7 @@ - + diff --git a/scout_bringup/rviz/scout.rviz b/scout_description/rviz/scout.rviz similarity index 100% rename from scout_bringup/rviz/scout.rviz rename to scout_description/rviz/scout.rviz From 31b398781652c3a40b973e441f5d89db30ba0159 Mon Sep 17 00:00:00 2001 From: James Mount Date: Wed, 12 Jul 2023 21:13:06 +1000 Subject: [PATCH 10/15] Cleaned up launch files in scout_description package. --- scout_description/launch/display_scout_mini.launch | 10 +++++----- scout_description/launch/display_scout_v2.launch | 9 +++++---- scout_description/launch/gazebo.launch | 8 ++++++-- scout_description/launch/scout_mini_stock.launch | 9 --------- scout_description/launch/scout_v2_stock.launch | 9 --------- 5 files changed, 16 insertions(+), 29 deletions(-) delete mode 100644 scout_description/launch/scout_mini_stock.launch delete mode 100644 scout_description/launch/scout_v2_stock.launch 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 @@ - - - - - - - From 9a05c928ebbf269c1acc7be59f37bbcb6af74e92 Mon Sep 17 00:00:00 2001 From: James Mount Date: Wed, 12 Jul 2023 21:55:08 +1000 Subject: [PATCH 11/15] Improved clarity around robot description --- scout_bringup/launch/scout.launch | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/scout_bringup/launch/scout.launch b/scout_bringup/launch/scout.launch index 9546bc1..5afc8bc 100644 --- a/scout_bringup/launch/scout.launch +++ b/scout_bringup/launch/scout.launch @@ -24,12 +24,14 @@ - + - + + + From e6f96eefe3fd17a5c1865e4f212684f83b69c646 Mon Sep 17 00:00:00 2001 From: James Mount Date: Mon, 17 Jul 2023 16:54:44 +1000 Subject: [PATCH 12/15] Update scout launch to allow enable/disable of robot state publisher. --- scout_bringup/launch/scout.launch | 20 ++++++++++++-------- scout_description/rviz/scout.rviz | 12 +++++++----- 2 files changed, 19 insertions(+), 13 deletions(-) diff --git a/scout_bringup/launch/scout.launch b/scout_bringup/launch/scout.launch index 5afc8bc..0dc17be 100644 --- a/scout_bringup/launch/scout.launch +++ b/scout_bringup/launch/scout.launch @@ -8,6 +8,9 @@ + + + @@ -24,14 +27,15 @@ - - - - - - - - + + + + + + + + + diff --git a/scout_description/rviz/scout.rviz b/scout_description/rviz/scout.rviz index b9f1b2c..e11e5ed 100644 --- a/scout_description/rviz/scout.rviz +++ b/scout_description/rviz/scout.rviz @@ -8,7 +8,7 @@ Panels: - /Status1 - /TF1/Frames1 Splitter Ratio: 0.42352941632270813 - Tree Height: 725 + Tree Height: 719 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -107,6 +107,8 @@ Visualization Manager: Visual Enabled: true - Class: rviz/TF Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false @@ -157,7 +159,7 @@ Visualization Manager: Global Options: Background Color: 48; 48; 48 Default Light: true - Fixed Frame: odom + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -207,7 +209,7 @@ Window Geometry: Height: 1016 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001560000035efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000031600fffffffb0000000800540069006d00650100000000000004500000000000000000000005da0000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005dc0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -216,6 +218,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1846 - X: 74 + Width: 1848 + X: 72 Y: 27 From ba99e61b3cf46a6fe5c949081e9edf225492c88a Mon Sep 17 00:00:00 2001 From: esplinj Date: Fri, 18 Aug 2023 09:06:19 +1000 Subject: [PATCH 13/15] avoids launch files opening in browser --- scout_bringup/launch/scout.launch | 1 + scout_bringup/launch/teleop_keyboard.launch | 1 + 2 files changed, 2 insertions(+) diff --git a/scout_bringup/launch/scout.launch b/scout_bringup/launch/scout.launch index 0dc17be..5546975 100644 --- a/scout_bringup/launch/scout.launch +++ b/scout_bringup/launch/scout.launch @@ -1,3 +1,4 @@ + diff --git a/scout_bringup/launch/teleop_keyboard.launch b/scout_bringup/launch/teleop_keyboard.launch index 73381f1..ed9cc1b 100644 --- a/scout_bringup/launch/teleop_keyboard.launch +++ b/scout_bringup/launch/teleop_keyboard.launch @@ -1,3 +1,4 @@ + From 18ada0a689f6280b9aa40cf705c042b480fb3a8a Mon Sep 17 00:00:00 2001 From: esplinj Date: Tue, 29 Aug 2023 11:23:50 +1000 Subject: [PATCH 14/15] Added base_footprint frame to urdf --- scout_base/launch/scout_base.launch | 2 +- scout_description/rviz/rviz_navigation.rviz | 612 ++++++++++++++++++++ scout_description/urdf/scout_mini.xacro | 27 + 3 files changed, 640 insertions(+), 1 deletion(-) create mode 100644 scout_description/rviz/rviz_navigation.rviz diff --git a/scout_base/launch/scout_base.launch b/scout_base/launch/scout_base.launch index a02dc33..998633c 100644 --- a/scout_base/launch/scout_base.launch +++ b/scout_base/launch/scout_base.launch @@ -22,7 +22,7 @@ - + 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/urdf/scout_mini.xacro b/scout_description/urdf/scout_mini.xacro index d98a8ca..38bb28c 100644 --- a/scout_description/urdf/scout_mini.xacro +++ b/scout_description/urdf/scout_mini.xacro @@ -20,6 +20,26 @@ + + + + + + + + + + + + + + + + @@ -41,6 +61,13 @@ + + + + + + + From bd410fa396c70d452b1b182fc71a21a8db8c0a1a Mon Sep 17 00:00:00 2001 From: josh esplin Date: Mon, 24 Jun 2024 14:47:39 +1000 Subject: [PATCH 15/15] launch and rviz config changes for sim use --- scout_base/launch/scout_base.launch | 3 +- scout_base/src/scout_messenger.cpp | 9 +- scout_bringup/launch/scout.launch | 15 +- scout_description/rviz/future_you.rviz | 295 +++++++++++++++++++++++++ 4 files changed, 312 insertions(+), 10 deletions(-) create mode 100644 scout_description/rviz/future_you.rviz diff --git a/scout_base/launch/scout_base.launch b/scout_base/launch/scout_base.launch index 998633c..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 --> + @@ -16,7 +17,7 @@ - + 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 index 5546975..b82b7e1 100644 --- a/scout_bringup/launch/scout.launch +++ b/scout_bringup/launch/scout.launch @@ -4,22 +4,25 @@ + + - + + @@ -31,14 +34,16 @@ - - + + - + + + - + diff --git a/scout_description/rviz/future_you.rviz b/scout_description/rviz/future_you.rviz new file mode 100644 index 0000000..5c8aa31 --- /dev/null +++ b/scout_description/rviz/future_you.rviz @@ -0,0 +1,295 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image1 + - /RobotModel1 + - /DepthCloud1/Auto Size1 + - /Odometry1 + - /Odometry1/Shape1 + Splitter Ratio: 0.5 + Tree Height: 192 + - 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: Image +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 + - 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 + 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_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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: scout/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 + - 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: 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: odom + 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: 10.372005462646484 + 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: 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: 0.7753978371620178 + Target Frame: + Yaw: 4.105382919311523 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1043 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000024300000375fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000018e000002240000001600fffffffb0000000a0049006d0061006700650000000231000000bc0000000000000000000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004220000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 150