diff --git a/robotnik_CopeliaSim/auxiliar_scripts/Velodyne_script.txt b/robotnik_CopeliaSim/auxiliar_scripts/Velodyne_script.txt new file mode 100644 index 0000000..4a86ba1 Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/Velodyne_script.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_robout.txt b/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_robout.txt new file mode 100644 index 0000000..cc2ebce Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_robout.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_watcher.txt b/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_watcher.txt new file mode 100644 index 0000000..f6592ac Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/base_script_rb_watcher.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/camerascript.txt b/robotnik_CopeliaSim/auxiliar_scripts/camerascript.txt new file mode 100644 index 0000000..a636efd Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/camerascript.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/gps_script.txt b/robotnik_CopeliaSim/auxiliar_scripts/gps_script.txt new file mode 100644 index 0000000..686d51f Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/gps_script.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/imu_script.txt b/robotnik_CopeliaSim/auxiliar_scripts/imu_script.txt new file mode 100644 index 0000000..2090880 Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/imu_script.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/interfaces.txt b/robotnik_CopeliaSim/auxiliar_scripts/interfaces.txt new file mode 100644 index 0000000..2a4ab57 Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/interfaces.txt differ diff --git a/robotnik_CopeliaSim/auxiliar_scripts/lidar2dscript.txt b/robotnik_CopeliaSim/auxiliar_scripts/lidar2dscript.txt new file mode 100644 index 0000000..314a691 Binary files /dev/null and b/robotnik_CopeliaSim/auxiliar_scripts/lidar2dscript.txt differ diff --git a/robotnik_CopeliaSim/launch_scripts/launch_scene.py b/robotnik_CopeliaSim/launch_scripts/launch_scene.py new file mode 100644 index 0000000..c633218 --- /dev/null +++ b/robotnik_CopeliaSim/launch_scripts/launch_scene.py @@ -0,0 +1,33 @@ +import subprocess +import time +import os +import sys + +# Ruta al ejecutable de CoppeliaSim +COPPELIA_SIM_PATH = "/home/albert/CoppeliaSim_Edu_V4_9_0_rev6_Ubuntu22_04/coppeliaSim.sh" + +# Carpeta donde están guardadas todas las escenas +SCENE_DIR = "/home/albert/CoppeliaSim_Edu_V4_9_0_rev6_Ubuntu22_04/scenes" + +# Verificar que se ha pasado un argumento con el nombre de la escena +if len(sys.argv) != 2: + print("Uso: python3 lanzar_escena.py ") + sys.exit(1) + +scene_name = sys.argv[1] +scene_path = os.path.join(SCENE_DIR, scene_name) + +# Verificar que la escena existe +if not os.path.isfile(scene_path): + print(f"Error: escena no encontrada en {scene_path}") + sys.exit(1) + +# Lanzar CoppeliaSim con la escena especificada +print(f"Lanzando CoppeliaSim con la escena: {scene_name}") +subprocess.Popen([COPPELIA_SIM_PATH, scene_path]) + +# Esperar unos segundos para asegurarse de que la escena cargue +time.sleep(5) + +print("CoppeliaSim lanzado. Escena cargada.") + diff --git a/robotnik_CopeliaSim/launch_scripts/spawn_model.py b/robotnik_CopeliaSim/launch_scripts/spawn_model.py new file mode 100644 index 0000000..56c3fb0 Binary files /dev/null and b/robotnik_CopeliaSim/launch_scripts/spawn_model.py differ diff --git a/robotnik_CopeliaSim/robots/rb_robout.ttm b/robotnik_CopeliaSim/robots/rb_robout.ttm new file mode 100644 index 0000000..2427b99 Binary files /dev/null and b/robotnik_CopeliaSim/robots/rb_robout.ttm differ diff --git a/robotnik_CopeliaSim/robots/rb_watcher.ttm b/robotnik_CopeliaSim/robots/rb_watcher.ttm new file mode 100644 index 0000000..70fad92 Binary files /dev/null and b/robotnik_CopeliaSim/robots/rb_watcher.ttm differ diff --git a/robotnik_CopeliaSim/rviz2/coppeliawatcher.rviz b/robotnik_CopeliaSim/rviz2/coppeliawatcher.rviz new file mode 100644 index 0000000..d43197f --- /dev/null +++ b/robotnik_CopeliaSim/rviz2/coppeliawatcher.rviz @@ -0,0 +1,598 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /robout_front_rgb1 + - /robout_front_rgb1/Topic1 + - /robout_rear_rgb1 + - /robout_rear_rgb1/Topic1 + - /watcher_top_rgb1 + - /watcher_top_rgb1/Topic1 + - /Image1 + - /Image1/Topic1 + - /PointCloud21 + - /PointCloud21/Status1 + - /PointCloud21/Topic1 + - /LaserScan1 + - /LaserScan1/Status1 + - /LaserScan1/Topic1 + - /LaserScan2 + - /LaserScan2/Topic1 + - /TF1 + - /TF1/Status1 + - /TF1/Frames1 + - /TF1/Frames1/rb_watcher_base_link1 + - /TF1/Frames1/rb_watcher_lidar_3d1 + - /TF1/Frames1/rb_watcher_odom1 + - /TF1/Frames1/rb_watcher_wheel_RR1 + - /TF1/Frames1/watcher_front_rgb_Sensor1 + - /TF1/Tree1 + - /TF1/Tree1/rb_watcher_odom1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1/robot_top_ptz_camera_joint1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1/robot_top_ptz_camera_joint1/robot_top_ptz_camera_base_link_respondable1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1/robot_top_ptz_camera_joint1/robot_top_ptz_camera_base_link_respondable1/robot_top_ptz_camera_pan_joint1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1/robot_top_ptz_camera_joint1/robot_top_ptz_camera_base_link_respondable1/robot_top_ptz_camera_pan_joint1/robot_top_ptz_camera_pan_link_respondable1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1/robot_top_ptz_camera_joint1/robot_top_ptz_camera_base_link_respondable1/robot_top_ptz_camera_pan_joint1/robot_top_ptz_camera_pan_link_respondable1/robot_top_ptz_camera_tilt_joint1 + - /TF1/Tree1/rb_watcher_odom1/robot_base_link_respondable1/robot_top_ptz_camera_joint1/robot_top_ptz_camera_base_link_respondable1/robot_top_ptz_camera_pan_joint1/robot_top_ptz_camera_pan_link_respondable1/robot_top_ptz_camera_tilt_joint1/robot_top_ptz_camera_frame_joint1 + - /TF1/Tree1/rb_watcher_base_link1 + - /TF1/Tree1/rb_watcher_base_link1/rb_watcher_top_3d_laser_base_joint1 + Splitter Ratio: 0.5029411911964417 + Tree Height: 797 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: robout_front_rgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rb_rbout_front_rgb + Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: robout_rear_rgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rb_rbout_rear_rgb + Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: watcher_top_rgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rb_watcher_top_rgb + Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rb_watcher_front_rgb + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 4 + Durability Policy: System Default + Filter size: 8 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /lidar_points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 4 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rb_watcher_frontlaser + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rb_watcher_rearlaser + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: false + base_link: + Value: false + front_camera_color: + Value: false + front_camera_depth: + Value: false + front_camera_irred1: + Value: false + front_camera_irred2: + Value: false + imu accelerometer: + Value: false + imu compass: + Value: false + imu gyro: + Value: false + imu inertial: + Value: false + odom: + Value: false + rb_robout_base_link: + Value: false + rb_robout_front_laser_base: + Value: false + rb_robout_front_laser_joint: + Value: false + rb_robout_front_rgb_sensor: + Value: false + rb_robout_front_rgbd_base: + Value: false + rb_robout_odom: + Value: false + rb_robout_rear_laser_base: + Value: false + rb_robout_rear_laser_joint: + Value: false + rb_robout_rear_rgb_sensor: + Value: false + rb_robout_rear_rgbd_base: + Value: false + rb_robout_wheel_FL: + Value: false + rb_robout_wheel_FR: + Value: false + rb_robout_wheel_RL: + Value: false + rb_robout_wheel_RR: + Value: false + rb_watcher_base_link: + Value: true + rb_watcher_lidar_3d: + Value: true + rb_watcher_odom: + Value: true + rb_watcher_top_3d_laser_base_joint: + Value: true + rb_watcher_wheel_FL: + Value: true + rb_watcher_wheel_FR: + Value: true + rb_watcher_wheel_RL: + Value: true + rb_watcher_wheel_RR: + Value: true + rear_camera_color: + Value: false + rear_camera_depth: + Value: false + rear_camera_irred1: + Value: false + rear_camera_irred2: + Value: false + robot_antenna_base_link: + Value: false + robot_back_left_wheel: + Value: false + robot_back_left_wheel_link: + Value: true + robot_back_right_wheel: + Value: false + robot_back_right_wheel_link: + Value: true + robot_base_footprint: + Value: false + robot_base_link: + Value: false + robot_base_link_respondable: + Value: false + robot_front_laser_base_link: + Value: true + robot_front_laser_link: + Value: true + robot_front_laser_sensor: + Value: true + robot_front_left_wheel: + Value: false + robot_front_left_wheel_link: + Value: true + robot_front_rgbd_camera_base_joint: + Value: false + robot_front_rgbd_camera_base_link: + Value: false + robot_front_rgbd_camera_color_frame: + Value: false + robot_front_rgbd_camera_color_optical_frame: + Value: false + robot_front_rgbd_camera_depth_frame: + Value: false + robot_front_rgbd_camera_depth_optical_frame: + Value: false + robot_front_rgbd_camera_infra1_frame: + Value: false + robot_front_rgbd_camera_infra1_optical_frame: + Value: false + robot_front_rgbd_camera_infra2_frame: + Value: false + robot_front_rgbd_camera_infra2_optical_frame: + Value: false + robot_front_rgbd_camera_link: + Value: false + robot_front_right_wheel: + Value: false + robot_front_right_wheel_link: + Value: true + robot_gps_base_link: + Value: false + robot_gps_link: + Value: false + robot_odom: + Value: false + robot_rear_laser_base_link: + Value: true + robot_rear_laser_link: + Value: true + robot_rear_laser_sensor: + Value: true + robot_rear_rgbd_camera_base_link: + Value: false + robot_rear_rgbd_camera_color_frame: + Value: false + robot_rear_rgbd_camera_color_optical_frame: + Value: false + robot_rear_rgbd_camera_depth_frame: + Value: false + robot_rear_rgbd_camera_depth_optical_frame: + Value: false + robot_rear_rgbd_camera_infra1_frame: + Value: false + robot_rear_rgbd_camera_infra1_optical_frame: + Value: false + robot_rear_rgbd_camera_infra2_frame: + Value: false + robot_rear_rgbd_camera_infra2_optical_frame: + Value: false + robot_rear_rgbd_camera_link: + Value: false + robot_top_3d_laser: + Value: false + robot_top_3d_laserbase_link: + Value: false + robot_top_3d_laserlink: + Value: false + robot_top_ptz_camera_base_link: + Value: false + robot_top_ptz_camera_base_link_respondable: + Value: false + robot_top_ptz_camera_frame_joint: + Value: false + robot_top_ptz_camera_frame_link: + Value: false + robot_top_ptz_camera_joint: + Value: false + robot_top_ptz_camera_optical_frame_link: + Value: false + robot_top_ptz_camera_optical_thermal_frame_link: + Value: false + robot_top_ptz_camera_pan_joint: + Value: false + robot_top_ptz_camera_pan_link: + Value: false + robot_top_ptz_camera_pan_link_respondable: + Value: false + robot_top_ptz_camera_rgb: + Value: false + robot_top_ptz_camera_sensor: + Value: false + robot_top_ptz_camera_thermal_frame_link: + Value: false + robot_top_ptz_camera_tilt_joint: + Value: false + robot_top_ptz_camera_tilt_link: + Value: false + robot_top_structure_link: + Value: false + robot_vectornav_base_link: + Value: false + robot_vectornav_link: + Value: false + watcher_front_rgb_Sensor: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + rb_robout_base_link: + rb_robout_front_laser_base: + rb_robout_front_laser_joint: + {} + rb_robout_front_rgbd_base: + rb_robout_front_rgb_sensor: + {} + rb_robout_rear_laser_base: + rb_robout_rear_laser_joint: + {} + rb_robout_rear_rgbd_base: + rb_robout_rear_rgb_sensor: + {} + rb_robout_wheel_FL: + {} + rb_robout_wheel_FR: + {} + rb_robout_wheel_RL: + {} + rb_robout_wheel_RR: + {} + rb_robout_odom: + {} + rb_watcher_base_link: + rb_watcher_top_3d_laser_base_joint: + rb_watcher_lidar_3d: + {} + rb_watcher_odom: + robot_base_link_respondable: + rb_watcher_wheel_FL: + {} + rb_watcher_wheel_FR: + {} + rb_watcher_wheel_RL: + {} + rb_watcher_wheel_RR: + {} + robot_front_rgbd_camera_base_joint: + watcher_front_rgb_Sensor: + {} + robot_top_ptz_camera_joint: + robot_top_ptz_camera_base_link_respondable: + robot_top_ptz_camera_pan_joint: + robot_top_ptz_camera_pan_link_respondable: + robot_top_ptz_camera_tilt_joint: + robot_top_ptz_camera_frame_joint: + robot_top_ptz_camera_rgb: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: rb_watcher_lidar_3d + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 23.851200103759766 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.12432737648487091 + Y: 0.8664349317550659 + Z: -1.5916423797607422 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7503983378410339 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.228529214859009 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1850 + X: 70 + Y: 27 + robout_front_rgb: + collapsed: false + robout_rear_rgb: + collapsed: false + watcher_top_rgb: + collapsed: false diff --git a/robotnik_CopeliaSim/rviz2/rb_roboutcoppelia.rviz b/robotnik_CopeliaSim/rviz2/rb_roboutcoppelia.rviz new file mode 100644 index 0000000..6a14831 --- /dev/null +++ b/robotnik_CopeliaSim/rviz2/rb_roboutcoppelia.rviz @@ -0,0 +1,382 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /robout_front_rgb1 + - /robout_front_rgb1/Topic1 + - /robout_rear_rgb1 + - /robout_rear_rgb1/Topic1 + - /watcher_top_rgb1 + - /watcher_top_rgb1/Topic1 + - /Image1 + - /Image1/Topic1 + - /PointCloud21 + - /PointCloud21/Status1 + - /PointCloud21/Topic1 + - /LaserScan1 + - /LaserScan1/Status1 + - /LaserScan1/Topic1 + - /LaserScan2 + - /LaserScan2/Topic1 + Splitter Ratio: 0.5029411911964417 + Tree Height: 417 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: robout_front_rgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rb_rbout_front_rgb + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: robout_rear_rgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rb_rbout_rear_rgb + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: watcher_top_rgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rb_watcher_top_rgb + Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: 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/TF1/Tree1 + - /rearlaser1 + - /rearlaser1/Status1 + - /rearlaser1/Topic1 + - /frontlaser1 + - /frontlaser1/Topic1 + - /frontdepth1 + - /frontdepth1/Topic1 + - /frontrgb1 + - /frontrgb1/Status1 + - /frontrgb1/Topic1 + - /rearrgb1 + - /rearrgb1/Topic1 + - /reardepth1 + - /reardepth1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 70 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: rearlaser +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + rbrobout_base_footprint//rbrobout_front_rgbd_camera_color_optical_frame: + Value: true + rbrobout_base_footprint//rbrobout_rear_laser_link: + Value: true + rbrobout_base_footprint//rbrobout_rear_rgbd_camera_color_optical_frame: + Value: true + rbrobout_base_footprint/odom: + Value: true + rbrobout_base_footprint/rbrobout_back_left_wheel_link: + Value: true + rbrobout_base_footprint/rbrobout_back_right_wheel_link: + Value: true + rbrobout_base_footprint/rbrobout_base_footprint: + Value: true + rbrobout_base_footprint/rbrobout_base_link: + Value: true + rbrobout_base_footprint/rbrobout_front_laser_base_link: + Value: true + rbrobout_base_footprint/rbrobout_front_laser_link: + Value: true + rbrobout_base_footprint/rbrobout_front_left_wheel_link: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_base_link: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_color_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_color_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_depth_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_depth_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra1_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra1_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra2_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra2_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_front_rgbd_camera_link: + Value: true + rbrobout_base_footprint/rbrobout_front_right_wheel_link: + Value: true + rbrobout_base_footprint/rbrobout_imu_imu_sensor_sensor: + Value: true + rbrobout_base_footprint/rbrobout_imu_link: + Value: true + rbrobout_base_footprint/rbrobout_rear_laser_base_link: + Value: true + rbrobout_base_footprint/rbrobout_rear_laser_link: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_base_link: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_color_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_color_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_depth_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_depth_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra1_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra1_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra2_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra2_optical_frame: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_link: + Value: true + rbrobout_base_footprint/sensor_frame: + Value: true + robot_base_footprint/odom: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_antenna_base_link: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_base_link: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_link: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_sensor_sensor/robot_top_3d_laser_sensor: + Value: true + robot_base_footprint/robot_back_left_wheel/robot_back_left_wheel: + Value: true + robot_base_footprint/robot_back_right_wheel/robot_back_right_wheel: + Value: true + robot_base_footprint/robot_base_docking_contact_link/robot_base_docking_contact_link: + Value: true + robot_base_footprint/robot_base_footprint: + Value: true + robot_base_footprint/robot_base_link: + Value: true + robot_base_footprint/robot_front_left_wheel/robot_front_left_wheel: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_base_link: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_color_frame/robot_front_rgbd_camera_color_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_color_frame/robot_front_rgbd_camera_color_optical_frame/robot_front_rgbd_camera_color_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_depth_frame/robot_front_rgbd_camera_depth_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_depth_frame/robot_front_rgbd_camera_depth_optical_frame/robot_front_rgbd_camera_depth_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra1_frame/robot_front_rgbd_camera_infra1_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra1_frame/robot_front_rgbd_camera_infra1_optical_frame/robot_front_rgbd_camera_infra1_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra2_frame/robot_front_rgbd_camera_infra2_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra2_frame/robot_front_rgbd_camera_infra2_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_link: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameracolor_sensor//robot_front_rgbd_camera_color_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameradepth_sensor/sensor_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameraired1_sensor/sensor_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameraired2_sensor/sensor_frame: + Value: true + robot_base_footprint/robot_front_right_wheel/robot_front_right_wheel: + Value: true + robot_base_footprint/robot_gps_base_link: + Value: true + robot_base_footprint/robot_gps_link: + Value: true + robot_base_footprint/robot_imu_link/robot_imu_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_base_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_pan_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_optical_frame_link/robot_top_ptz_camera_optical_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_optical_frame_link/robot_top_ptz_camera_zoom_color_link/robot_top_ptz_camera_zoom_color_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_sensor_sensor/robot_top_ptz_camera_optical_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/thermal_robot_top_ptz_camera_sensor_sensor/robot_top_ptz_camera_thermal_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_thermal_frame_link/robot_top_ptz_camera_thermal_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_thermal_frame_link/robot_top_ptz_camera_zoom_thermal_link/robot_top_ptz_camera_zoom_thermal_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_tilt_link: + Value: true + robot_base_footprint/robot_top_structure_link/robot_top_structure_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + rbrobout_base_footprint/odom: + rbrobout_base_footprint/rbrobout_base_footprint: + rbrobout_base_footprint/rbrobout_base_link: + rbrobout_base_footprint/rbrobout_back_left_wheel_link: + {} + rbrobout_base_footprint/rbrobout_back_right_wheel_link: + {} + rbrobout_base_footprint/rbrobout_front_laser_base_link: + rbrobout_base_footprint/rbrobout_front_laser_link: + {} + rbrobout_base_footprint/rbrobout_front_left_wheel_link: + {} + rbrobout_base_footprint/rbrobout_front_rgbd_camera_base_link: + rbrobout_base_footprint/rbrobout_front_rgbd_camera_link: + rbrobout_base_footprint//rbrobout_front_rgbd_camera_color_optical_frame: + {} + rbrobout_base_footprint/rbrobout_front_rgbd_camera_color_frame: + rbrobout_base_footprint/rbrobout_front_rgbd_camera_color_optical_frame: + {} + rbrobout_base_footprint/rbrobout_front_rgbd_camera_depth_frame: + rbrobout_base_footprint/rbrobout_front_rgbd_camera_depth_optical_frame: + {} + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra1_frame: + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra1_optical_frame: + {} + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra2_frame: + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra2_optical_frame: + {} + rbrobout_base_footprint/sensor_frame: + {} + rbrobout_base_footprint/rbrobout_front_right_wheel_link: + {} + rbrobout_base_footprint/rbrobout_imu_link: + rbrobout_base_footprint/rbrobout_imu_imu_sensor_sensor: + {} + rbrobout_base_footprint/rbrobout_rear_laser_base_link: + rbrobout_base_footprint/rbrobout_rear_laser_link: + rbrobout_base_footprint//rbrobout_rear_laser_link: + {} + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_base_link: + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_link: + rbrobout_base_footprint//rbrobout_rear_rgbd_camera_color_optical_frame: + {} + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_color_frame: + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_color_optical_frame: + {} + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_depth_frame: + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_depth_optical_frame: + {} + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra1_frame: + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra1_optical_frame: + {} + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra2_frame: + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra2_optical_frame: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: rearlaser + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 3 + Durability Policy: Volatile + Filter size: 1 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rbrobout_base_footprint/rbrobout_rear_scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: frontlaser + Position Transformer: XYZ + Selectable: true + Size (Pixels): 2 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rbrobout_base_footprint/rbrobout_front_scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: frontdepth + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rbrobout_base_footprint/rb_robout_front_depth_camera + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: frontrgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rbrobout_base_footprint/rb_robout_front_rgb_camera_image + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: rearrgb + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rbrobout_base_footprint/rb_robout_rear_rgb_camera_image + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: reardepth + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /rbrobout_base_footprint/rb_robout_rear_depth_camera_image + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: rbrobout_base_footprint/rbrobout_front_laser_base_link + Frame Rate: 10 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 18.668781280517578 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -2.1495628356933594 + Y: 0.6005833745002747 + Z: -0.9954342842102051 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.809796929359436 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.010492324829102 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 900 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1195 + X: 90 + Y: 93 + frontdepth: + collapsed: false + frontrgb: + collapsed: false + reardepth: + collapsed: false + rearrgb: + collapsed: false diff --git a/robotnik_o3de/rvizz/watcher_o3de.rviz b/robotnik_o3de/rvizz/watcher_o3de.rviz new file mode 100644 index 0000000..dff9e94 --- /dev/null +++ b/robotnik_o3de/rvizz/watcher_o3de.rviz @@ -0,0 +1,456 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PointCloud21 + - /PointCloud21/Status1 + - /PointCloud21/Topic1 + - /TF1 + - /TF1/Frames1 + - /TF1/Tree1 + - /topcamera1 + - /topcamera1/Topic1 + - /depthfrontcamera1 + - /depthfrontcamera1/Topic1 + - /frontcamera1 + - /frontcamera1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 240 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 6.4197998046875 + Min Value: -5.285618782043457 + Value: true + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 6.812288284301758 + Min Color: 0; 0; 0 + Min Intensity: -0.5495924949645996 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.05000000074505806 + Style: Points + Topic: + Depth: 1 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_sensor_sensor/rb_watcher_LIDAR_3D + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + rbrobout_base_footprint//rbrobout_front_rgbd_camera_color_optical_frame: + Value: false + rbrobout_base_footprint//rbrobout_rear_laser_link: + Value: false + rbrobout_base_footprint//rbrobout_rear_rgbd_camera_color_optical_frame: + Value: false + rbrobout_base_footprint/odom: + Value: false + rbrobout_base_footprint/rbrobout_back_left_wheel_link: + Value: false + rbrobout_base_footprint/rbrobout_back_right_wheel_link: + Value: false + rbrobout_base_footprint/rbrobout_base_footprint: + Value: false + rbrobout_base_footprint/rbrobout_base_link: + Value: false + rbrobout_base_footprint/rbrobout_front_laser_base_link: + Value: false + rbrobout_base_footprint/rbrobout_front_laser_link: + Value: true + rbrobout_base_footprint/rbrobout_front_left_wheel_link: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_base_link: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_color_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_color_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_depth_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_depth_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra1_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra1_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra2_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_infra2_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_front_rgbd_camera_link: + Value: true + rbrobout_base_footprint/rbrobout_front_right_wheel_link: + Value: false + rbrobout_base_footprint/rbrobout_imu_imu_sensor_sensor: + Value: true + rbrobout_base_footprint/rbrobout_imu_link: + Value: false + rbrobout_base_footprint/rbrobout_rear_laser_base_link: + Value: false + rbrobout_base_footprint/rbrobout_rear_laser_link: + Value: true + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_base_link: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_color_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_color_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_depth_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_depth_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra1_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra1_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra2_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_infra2_optical_frame: + Value: false + rbrobout_base_footprint/rbrobout_rear_rgbd_camera_link: + Value: true + rbrobout_base_footprint/sensor_frame: + Value: false + robot_base_footprint/odom: + Value: false + robot_base_footprint/robot_antenna_base_link/robot_antenna_base_link: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_base_link: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_link: + Value: true + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_sensor_sensor/robot_top_3d_laser_sensor: + Value: true + robot_base_footprint/robot_back_left_wheel/robot_back_left_wheel: + Value: true + robot_base_footprint/robot_back_right_wheel/robot_back_right_wheel: + Value: true + robot_base_footprint/robot_base_docking_contact_link/robot_base_docking_contact_link: + Value: true + robot_base_footprint/robot_base_footprint: + Value: false + robot_base_footprint/robot_base_link: + Value: true + robot_base_footprint/robot_front_left_wheel/robot_front_left_wheel: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_base_link: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_color_frame/robot_front_rgbd_camera_color_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_color_frame/robot_front_rgbd_camera_color_optical_frame/robot_front_rgbd_camera_color_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_depth_frame/robot_front_rgbd_camera_depth_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_depth_frame/robot_front_rgbd_camera_depth_optical_frame/robot_front_rgbd_camera_depth_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra1_frame/robot_front_rgbd_camera_infra1_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra1_frame/robot_front_rgbd_camera_infra1_optical_frame/robot_front_rgbd_camera_infra1_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra2_frame/robot_front_rgbd_camera_infra2_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra2_frame/robot_front_rgbd_camera_infra2_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_link: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameracolor_sensor//robot_front_rgbd_camera_color_optical_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameradepth_sensor/sensor_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameraired1_sensor/sensor_frame: + Value: true + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameraired2_sensor/sensor_frame: + Value: true + robot_base_footprint/robot_front_right_wheel/robot_front_right_wheel: + Value: true + robot_base_footprint/robot_gps_base_link: + Value: true + robot_base_footprint/robot_gps_link: + Value: true + robot_base_footprint/robot_imu_link/robot_imu_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_base_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_pan_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_optical_frame_link/robot_top_ptz_camera_optical_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_optical_frame_link/robot_top_ptz_camera_zoom_color_link/robot_top_ptz_camera_zoom_color_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_sensor_sensor/robot_top_ptz_camera_optical_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/thermal_robot_top_ptz_camera_sensor_sensor/robot_top_ptz_camera_thermal_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_thermal_frame_link/robot_top_ptz_camera_thermal_frame_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_thermal_frame_link/robot_top_ptz_camera_zoom_thermal_link/robot_top_ptz_camera_zoom_thermal_link: + Value: true + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_tilt_link: + Value: true + robot_base_footprint/robot_top_structure_link/robot_top_structure_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + robot_base_footprint/odom: + robot_base_footprint/robot_base_footprint: + robot_base_footprint/robot_base_link: + robot_base_footprint/robot_antenna_base_link/robot_antenna_base_link: + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_base_link: + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_link: + robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_link/robot_top_3d_laser_sensor_sensor/robot_top_3d_laser_sensor: + {} + robot_base_footprint/robot_back_left_wheel/robot_back_left_wheel: + {} + robot_base_footprint/robot_back_right_wheel/robot_back_right_wheel: + {} + robot_base_footprint/robot_base_docking_contact_link/robot_base_docking_contact_link: + {} + robot_base_footprint/robot_front_left_wheel/robot_front_left_wheel: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_base_link: + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_link: + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_color_frame/robot_front_rgbd_camera_color_frame: + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_color_frame/robot_front_rgbd_camera_color_optical_frame/robot_front_rgbd_camera_color_optical_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_depth_frame/robot_front_rgbd_camera_depth_frame: + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_depth_frame/robot_front_rgbd_camera_depth_optical_frame/robot_front_rgbd_camera_depth_optical_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra1_frame/robot_front_rgbd_camera_infra1_frame: + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra1_frame/robot_front_rgbd_camera_infra1_optical_frame/robot_front_rgbd_camera_infra1_optical_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra2_frame/robot_front_rgbd_camera_infra2_frame: + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_camera_infra2_frame/robot_front_rgbd_camera_infra2_optical_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameracolor_sensor//robot_front_rgbd_camera_color_optical_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameradepth_sensor/sensor_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameraired1_sensor/sensor_frame: + {} + robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameraired2_sensor/sensor_frame: + {} + robot_base_footprint/robot_front_right_wheel/robot_front_right_wheel: + {} + robot_base_footprint/robot_gps_base_link: + robot_base_footprint/robot_gps_link: + {} + robot_base_footprint/robot_imu_link/robot_imu_link: + {} + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_base_link: + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_pan_link: + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_tilt_link: + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_frame_link: + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_optical_frame_link/robot_top_ptz_camera_optical_frame_link: + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_optical_frame_link/robot_top_ptz_camera_zoom_color_link/robot_top_ptz_camera_zoom_color_link: + {} + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_sensor_sensor/robot_top_ptz_camera_optical_frame_link: + {} + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/thermal_robot_top_ptz_camera_sensor_sensor/robot_top_ptz_camera_thermal_frame_link: + {} + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_thermal_frame_link/robot_top_ptz_camera_thermal_frame_link: + robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_thermal_frame_link/robot_top_ptz_camera_zoom_thermal_link/robot_top_ptz_camera_zoom_thermal_link: + {} + robot_base_footprint/robot_top_structure_link/robot_top_structure_link: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: topcamera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: System Default + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /robot_base_footprint/robot_top_ptz_camera_base_link/robot_top_ptz_camera_pan_link/robot_top_ptz_camera_tilt_link/robot_top_ptz_camera_frame_link/robot_top_ptz_camera_sensor_sensor/rb_watcher_top_camera + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: depthfrontcamera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameradepth_sensor/camera_image_depth + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: frontcamera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /robot_base_footprint/robot_front_rgbd_camera_base_link/robot_front_rgbd_camera_link/robot_front_rgbd_cameracolor_sensor/rb_watcher_front_camera_color + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: robot_base_footprint/robot_antenna_base_link/robot_top_3d_laser_base_link/robot_top_3d_laser_base_link + Frame Rate: 20 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 23.48159408569336 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.7596180438995361 + Y: -0.6355442404747009 + Z: -0.574065625667572 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.9447970390319824 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.070457935333252 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1011 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1684 + X: 66 + Y: 32 + depthfrontcamera: + collapsed: false + frontcamera: + collapsed: false + topcamera: + collapsed: false