From 3976fbc4c119e6b80b4c8d8a7a084433468fdb90 Mon Sep 17 00:00:00 2001 From: MarcM0 Date: Thu, 4 Jul 2024 16:44:24 -0400 Subject: [PATCH 1/6] Add behavior tree to navigate to start before starting fields navigation --- ...w_basic_complete_coverage_nav_to_start.xml | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) create mode 100644 opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml new file mode 100644 index 0000000..fb8013c --- /dev/null +++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + From ce22aca8de820a254c7c3b2a080bb68a264b45c7 Mon Sep 17 00:00:00 2001 From: MarcM0 Date: Thu, 4 Jul 2024 16:52:39 -0400 Subject: [PATCH 2/6] snake case --- .../navigate_w_basic_complete_coverage_nav_to_start.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml index fb8013c..034735b 100644 --- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml +++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml @@ -19,9 +19,9 @@ 'polygons="{field_polygon}" polygons_frame_id="{polygon_frame_id}"' if set polygon via NavigateCompleteCoverage or file_field="{field_filepath}" if setting polygon file via NavigateCompleteCoverage --> - - - + + + From da24fda05a19e8b868e63dec6b85e68b9a0e1bfd Mon Sep 17 00:00:00 2001 From: MarcM0 Date: Thu, 4 Jul 2024 17:06:10 -0400 Subject: [PATCH 3/6] comments --- .../navigate_w_basic_complete_coverage_nav_to_start.xml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml index 034735b..c4e7255 100644 --- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml +++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml @@ -1,5 +1,5 @@ + + + + + + From f3466e6c2724b7d4c86d5a88d913d0a7ef42692d Mon Sep 17 00:00:00 2001 From: MarcM0 Date: Thu, 11 Jul 2024 14:53:44 -0400 Subject: [PATCH 4/6] rviz visualization for demo --- .../launch/coverage_demo_launch.py | 3 +- opennav_coverage_demo/params/rviz_config.rviz | 688 ++++++++++++++++++ 2 files changed, 690 insertions(+), 1 deletion(-) create mode 100644 opennav_coverage_demo/params/rviz_config.rviz diff --git a/opennav_coverage_demo/launch/coverage_demo_launch.py b/opennav_coverage_demo/launch/coverage_demo_launch.py index 1214c19..1a072fd 100644 --- a/opennav_coverage_demo/launch/coverage_demo_launch.py +++ b/opennav_coverage_demo/launch/coverage_demo_launch.py @@ -25,6 +25,7 @@ def generate_launch_description(): nav2_bringup_dir = get_package_share_directory('nav2_bringup') coverage_demo_dir = get_package_share_directory('opennav_coverage_demo') + rviz_config_file = os.path.join(coverage_demo_dir, "rviz_config.rviz") world = os.path.join(coverage_demo_dir, 'blank.world') param_file_path = os.path.join(coverage_demo_dir, 'demo_params.yaml') @@ -66,7 +67,7 @@ def generate_launch_description(): rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), - launch_arguments={'namespace': ''}.items()) + launch_arguments={'namespace': '','rviz_config': rviz_config_file}.items()) # start navigation bringup_cmd = IncludeLaunchDescription( diff --git a/opennav_coverage_demo/params/rviz_config.rviz b/opennav_coverage_demo/params/rviz_config.rviz new file mode 100644 index 0000000..9713e0e --- /dev/null +++ b/opennav_coverage_demo/params/rviz_config.rviz @@ -0,0 +1,688 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + - /Path1 + - /Polygon1 + - /Polygon1/Status1 + - /MarkerArray2 + - /Marker1 + - /Marker1/Status1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 333 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +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 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_link: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: + Value: true + gps_link: + Value: true + imu_link: + Value: true + map: + Value: true + map__identity: + Value: true + odom: + Value: true + origin: + Value: true + utm: + Value: true + wheel_left_link: + Value: true + wheel_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + base_footprint: + base_link: + caster_back_left_link: + {} + caster_back_right_link: + {} + gps_link: + {} + imu_link: + {} + wheel_left_link: + {} + wheel_right_link: + {} + origin: + {} + utm: + {} + map__identity: + {} + 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: 0 + 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: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /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/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + 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: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Downsampled Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + 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/PointCloud2 + Color: 125; 125; 125 + Color Transformer: FlatColor + 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: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: false + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Trajectories + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /marker + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + 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/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + 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: VoxelGrid + 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: /local_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Controller + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RealsenseCamera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/image_raw + 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/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + 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: RealsenseDepthImage + 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: /intel_realsense_r200_depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: Realsense + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /coverage_server/coverage_plan + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /coverage_server/field_boundary + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /coverage_server/swaths + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - 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/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -1.5707999467849731 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 107.46540832519531 + Target Frame: + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 932 + Hide Left Dock: false + Hide Right Dock: true + Navigation 2: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000018a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001cd000001ba000001ba00fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + RealsenseCamera: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1545 + X: 375 + Y: 111 From 5766bdc1c10079b1b816180f6fa686747720af60 Mon Sep 17 00:00:00 2001 From: Marc Morcos <30278842+MarcM0@users.noreply.github.com> Date: Thu, 11 Jul 2024 15:19:18 -0400 Subject: [PATCH 5/6] Update rviz_config.rviz --- opennav_coverage_demo/params/rviz_config.rviz | 51 ++++++++++--------- 1 file changed, 27 insertions(+), 24 deletions(-) diff --git a/opennav_coverage_demo/params/rviz_config.rviz b/opennav_coverage_demo/params/rviz_config.rviz index 9713e0e..77f2c32 100644 --- a/opennav_coverage_demo/params/rviz_config.rviz +++ b/opennav_coverage_demo/params/rviz_config.rviz @@ -9,10 +9,8 @@ Panels: - /TF1/Tree1 - /Path1 - /Polygon1 - - /Polygon1/Status1 - /MarkerArray2 - /Marker1 - - /Marker1/Status1 Splitter Ratio: 0.5833333134651184 Tree Height: 333 - Class: rviz_common/Selection @@ -85,24 +83,28 @@ Visualization Manager: Value: true base_link: Value: true + base_scan: + Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true caster_back_left_link: Value: true caster_back_right_link: Value: true - gps_link: - Value: true imu_link: Value: true map: Value: true - map__identity: - Value: true odom: Value: true - origin: - Value: true - utm: - Value: true wheel_left_link: Value: true wheel_right_link: @@ -117,24 +119,25 @@ Visualization Manager: odom: base_footprint: base_link: + base_scan: + {} + camera_link: + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_rgb_frame: + camera_rgb_optical_frame: + {} caster_back_left_link: {} caster_back_right_link: {} - gps_link: - {} imu_link: {} wheel_left_link: {} wheel_right_link: {} - origin: - {} - utm: - {} - map__identity: - {} Update Interval: 0 Value: true - Alpha: 1 @@ -152,9 +155,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0 + Max Intensity: -999999 Min Color: 0; 0; 0 - Min Intensity: 0 + Min Intensity: 999999 Name: LaserScan Position Transformer: XYZ Selectable: true @@ -604,7 +607,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - {} + "": true Topic: Depth: 5 Durability Policy: Volatile @@ -660,11 +663,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 107.46540832519531 + Scale: 59.074974060058594 Target Frame: Value: TopDownOrtho (rviz_default_plugins) - X: 0 - Y: 0 + X: 10.213441848754883 + Y: 9.93270492553711 Saved: ~ Window Geometry: Displays: From 57ceae19403d69e43bf68dfc958911ee05716aa7 Mon Sep 17 00:00:00 2001 From: MarcM0 Date: Mon, 15 Jul 2024 12:05:50 -0400 Subject: [PATCH 6/6] Linting and add to other demo --- opennav_coverage_demo/launch/coverage_demo_launch.py | 4 ++-- opennav_coverage_demo/launch/row_coverage_demo_launch.py | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/opennav_coverage_demo/launch/coverage_demo_launch.py b/opennav_coverage_demo/launch/coverage_demo_launch.py index 1a072fd..d315cfa 100644 --- a/opennav_coverage_demo/launch/coverage_demo_launch.py +++ b/opennav_coverage_demo/launch/coverage_demo_launch.py @@ -25,7 +25,7 @@ def generate_launch_description(): nav2_bringup_dir = get_package_share_directory('nav2_bringup') coverage_demo_dir = get_package_share_directory('opennav_coverage_demo') - rviz_config_file = os.path.join(coverage_demo_dir, "rviz_config.rviz") + rviz_config_file = os.path.join(coverage_demo_dir, 'rviz_config.rviz') world = os.path.join(coverage_demo_dir, 'blank.world') param_file_path = os.path.join(coverage_demo_dir, 'demo_params.yaml') @@ -67,7 +67,7 @@ def generate_launch_description(): rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), - launch_arguments={'namespace': '','rviz_config': rviz_config_file}.items()) + launch_arguments={'namespace': '', 'rviz_config': rviz_config_file}.items()) # start navigation bringup_cmd = IncludeLaunchDescription( diff --git a/opennav_coverage_demo/launch/row_coverage_demo_launch.py b/opennav_coverage_demo/launch/row_coverage_demo_launch.py index 2161b78..342fd84 100644 --- a/opennav_coverage_demo/launch/row_coverage_demo_launch.py +++ b/opennav_coverage_demo/launch/row_coverage_demo_launch.py @@ -25,6 +25,7 @@ def generate_launch_description(): nav2_bringup_dir = get_package_share_directory('nav2_bringup') coverage_demo_dir = get_package_share_directory('opennav_coverage_demo') + rviz_config_file = os.path.join(coverage_demo_dir, 'rviz_config.rviz') world = os.path.join(coverage_demo_dir, 'blank.world') param_file_path = os.path.join(coverage_demo_dir, 'demo_params.yaml') @@ -66,7 +67,7 @@ def generate_launch_description(): rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), - launch_arguments={'namespace': ''}.items()) + launch_arguments={'namespace': '', 'rviz_config': rviz_config_file}.items()) # start navigation bringup_cmd = IncludeLaunchDescription(