From 7f96bdc5be6f9955407dfd0cec65f09416bf1c71 Mon Sep 17 00:00:00 2001 From: jhbae159 Date: Tue, 6 Oct 2020 15:04:04 +0900 Subject: [PATCH] update for real world bada robot --- bada_g2_2dnav/rviz/r.rviz | 199 ++++++++++++++---- bada_g2_description/launch/rviz.launch | 7 +- bada_g2_description/urdf/bada_g2.xacro | 2 +- .../examples/angular_bound_filter.launch | 10 + 4 files changed, 170 insertions(+), 48 deletions(-) diff --git a/bada_g2_2dnav/rviz/r.rviz b/bada_g2_2dnav/rviz/r.rviz index dbb888e..d07b9aa 100644 --- a/bada_g2_2dnav/rviz/r.rviz +++ b/bada_g2_2dnav/rviz/r.rviz @@ -114,35 +114,47 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - bada_chasis: - Value: true + L_link: + Value: false + R_link: + Value: false + base_footprint_link: + Value: false base_link: Value: true - d400_aligned_depth_to_color_frame: + d435_camera_aligned_depth_to_color_frame: + Value: true + d435_camera_aligned_depth_to_infra1_frame: Value: false - d400_color_frame: + d435_camera_bottom_screw_frame: Value: false - d400_color_optical_frame: + d435_camera_color_frame: Value: false - d400_depth_frame: + d435_camera_color_optical_frame: Value: false - d400_depth_optical_frame: + d435_camera_depth_frame: Value: false - d400_link: - Value: true - map: - Value: true - odom: - Value: true - respeaker_base: - Value: true - t265_link: + d435_camera_depth_optical_frame: + Value: false + d435_camera_infra1_frame: + Value: false + d435_camera_infra1_optical_frame: + Value: false + d435_camera_infra2_frame: + Value: false + d435_camera_infra2_optical_frame: + Value: false + d435_camera_left_ir_frame: + Value: false + d435_camera_left_ir_optical_frame: + Value: false + d435_camera_link: Value: false - t265_odom_frame: + d435_camera_right_ir_frame: Value: false - t265_pose_frame: + d435_camera_right_ir_optical_frame: Value: false - tcamera_link: + laser: Value: true Marker Scale: 1 Name: TF @@ -150,22 +162,38 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - map: - odom: - base_link: - d400_link: - d400_aligned_depth_to_color_frame: - d400_color_optical_frame: + base_footprint_link: + base_link: + L_link: + {} + R_link: + {} + d435_camera_bottom_screw_frame: + d435_camera_link: + d435_camera_aligned_depth_to_color_frame: + d435_camera_color_optical_frame: {} - d400_color_frame: + d435_camera_aligned_depth_to_infra1_frame: + d435_camera_infra1_optical_frame: + {} + d435_camera_color_frame: + {} + d435_camera_depth_frame: + d435_camera_depth_optical_frame: + {} + d435_camera_left_ir_frame: + d435_camera_left_ir_optical_frame: + {} + d435_camera_right_ir_frame: + d435_camera_right_ir_optical_frame: + {} + d435_camera_infra1_frame: {} - d400_depth_frame: - d400_depth_optical_frame: + d435_camera_infra2_frame: + d435_camera_infra2_optical_frame: {} - respeaker_base: - {} - tcamera_link: - {} + laser: + {} Update Interval: 0 Value: true - Alpha: 1 @@ -183,9 +211,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 + Max Intensity: 47 Min Color: 0; 0; 0 - Min Intensity: 0 + Min Intensity: 47 Name: LaserScan Position Transformer: XYZ Queue Size: 10 @@ -193,10 +221,10 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /scan + Topic: /scan_filtered Unreliable: false Use Fixed Frame: true - Use rainbow: false + Use rainbow: true Value: true - Alpha: 1 Class: rviz/Polygon @@ -264,11 +292,92 @@ Visualization Manager: Topic: /move_base/current_goal Unreliable: false 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 + L_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + R_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + d435_camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + d435_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + laser: + 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 Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true - Fixed Frame: map + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -292,25 +401,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 15.176136016845703 + Distance: 3.9202609062194824 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 1.2840439081192017 - Y: 0.1262761950492859 - Z: -0.016361216083168983 + X: -0.20945604145526886 + Y: -0.03731440007686615 + Z: 0.30536597967147827 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 1.4097963571548462 + Pitch: 0.8547969460487366 Target Frame: Value: Orbit (rviz) - Yaw: 4.888574123382568 + Yaw: 0.2626698911190033 Saved: ~ Window Geometry: Displays: @@ -328,5 +437,5 @@ Window Geometry: Views: collapsed: false Width: 1200 - X: 571 - Y: 94 + X: 199 + Y: 75 diff --git a/bada_g2_description/launch/rviz.launch b/bada_g2_description/launch/rviz.launch index ced931a..fc8c708 100644 --- a/bada_g2_description/launch/rviz.launch +++ b/bada_g2_description/launch/rviz.launch @@ -1,14 +1,17 @@ + + + - + - + diff --git a/bada_g2_description/urdf/bada_g2.xacro b/bada_g2_description/urdf/bada_g2.xacro index 6b371e4..ea84146 100644 --- a/bada_g2_description/urdf/bada_g2.xacro +++ b/bada_g2_description/urdf/bada_g2.xacro @@ -175,7 +175,7 @@ - + diff --git a/laser_filters/examples/angular_bound_filter.launch b/laser_filters/examples/angular_bound_filter.launch index 68a0ce1..0331c1b 100644 --- a/laser_filters/examples/angular_bound_filter.launch +++ b/laser_filters/examples/angular_bound_filter.launch @@ -1,4 +1,14 @@ + + + + + + + + + +