diff --git a/scripts/build.sh b/scripts/build.sh index e8f20d7..af72d29 100755 --- a/scripts/build.sh +++ b/scripts/build.sh @@ -3,14 +3,6 @@ export CMAKE_PREFIX_PATH=/usr/local/lib/cmake:$CMAKE_PREFIX_PATH export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH -cd src/maddrive_ros_shared/third_party/Lslidar_ROS1_driver -git checkout C16_V2.6/2.8/3.0 -cd - - -if catkin list | grep -q "lslidar_driver"; then - catkin clean lslidar_driver -fi - catkin build \ tigra-project \ maddrive_ros_shared \ @@ -20,7 +12,7 @@ catkin build \ cv_bridge \ stereo_image_proc \ camera_calibration \ - lslidar_driver \ + lslidar_c16_driver \ realsense2_camera \ realsense2_description \ image_geometry \ diff --git a/scripts/build_small.sh b/scripts/build_small.sh index cf5d05f..c736fcc 100755 --- a/scripts/build_small.sh +++ b/scripts/build_small.sh @@ -1,4 +1,7 @@ #!/usr/bin/env bash catkin build \ - tigra-project + tigra-project \ + maddrive_ros_shared \ + -j$(($(nproc)-2)) + diff --git a/tigra_software/config/gps/CFG_files/moving_base_cfg.txt b/tigra_software/config/gps/CFG_files/moving_base_cfg.txt deleted file mode 100644 index 5c5f386..0000000 --- a/tigra_software/config/gps/CFG_files/moving_base_cfg.txt +++ /dev/null @@ -1,93 +0,0 @@ -MON-VER - 0A 04 FA 00 45 58 54 20 43 4F 52 45 20 33 2E 30 31 20 28 64 62 30 63 38 39 29 00 00 00 00 00 00 00 00 30 30 30 38 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 33 2E 30 31 20 28 31 30 37 38 38 38 29 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 34 30 52 45 46 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 30 2E 33 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 4D 4F 44 3D 4E 45 4F 2D 4D 38 50 2D 32 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 46 49 53 3D 30 78 45 46 34 30 31 35 20 28 31 30 30 31 31 31 29 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-ANT - 06 13 04 00 1B 00 F0 B9 -CFG-DAT - 06 06 02 00 00 00 -CFG-DGNSS - 06 70 04 00 03 00 00 00 -CFG-GNSS - 06 3E 24 00 00 1C 1C 04 00 08 10 00 01 00 01 01 03 08 10 00 00 00 01 01 05 00 03 00 00 00 01 01 06 08 0E 00 01 00 01 01 -CFG-INF - 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06 00 14 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-RATE - 06 08 06 00 E8 03 01 00 00 00 -CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00 -CFG-RXM - 06 11 02 00 48 00 -CFG-TMODE3 - 06 71 28 00 00 00 00 01 14 22 BF 23 3F E7 12 12 2A 0B 00 00 32 32 32 00 E0 2E 00 00 2C 01 00 00 90 D0 03 00 00 00 00 00 00 00 00 00 -CFG-TP5 - 06 31 20 00 00 01 00 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 77 00 00 00 -CFG-TP5 - 06 31 20 00 01 01 00 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 7E 00 00 00 -CFG-USB - 06 1B 6C 00 46 15 A8 01 00 00 00 00 64 00 02 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 47 4E 53 53 20 72 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 diff --git a/tigra_software/config/gps/CFG_files/rover_cfg.txt b/tigra_software/config/gps/CFG_files/rover_cfg.txt deleted file mode 100644 index 0461aa4..0000000 --- a/tigra_software/config/gps/CFG_files/rover_cfg.txt +++ /dev/null @@ -1,36 +0,0 @@ -MON-VER - 0A 04 FA 00 45 58 54 20 43 4F 52 45 20 33 2E 30 31 20 28 64 62 30 63 38 39 29 00 00 00 00 00 00 00 00 30 30 30 38 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 33 2E 30 31 20 28 31 30 37 38 38 38 29 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 34 30 52 45 46 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 30 2E 33 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 4D 4F 44 3D 4E 45 4F 2D 4D 38 50 2D 32 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 46 49 53 3D 30 78 45 46 34 30 31 35 20 28 31 30 30 31 31 31 29 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-ANT - 06 13 04 00 00 00 F0 39 -CFG-DAT - 06 06 02 00 00 00 -CFG-DGNSS - 06 70 04 00 03 00 00 00 -CFG-GNSS - 06 3E 24 00 00 1C 1C 04 00 08 10 00 01 00 01 01 03 08 10 00 00 00 01 01 05 00 03 00 00 00 01 01 06 08 0E 00 01 00 01 01 -CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00 -CFG-INF - 06 02 0A 00 01 00 00 00 07 07 00 07 07 00 -CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00 -CFG-LOGFILTER - 06 47 0C 00 01 00 00 00 00 00 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0B 30 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0B 31 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0B 01 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 21 08 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 0B 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 09 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 02 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 06 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 07 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 21 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 08 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 22 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 36 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 04 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 61 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 39 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 13 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 14 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 09 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 34 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 01 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 02 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 07 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 3C 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 35 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 06 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 01 03 00 00 00 01 00 00 diff --git a/tigra_software/config/gps/CFG_files/simple_base_conf.txt b/tigra_software/config/gps/CFG_files/simple_base_conf.txt deleted file mode 100644 index 1781d44..0000000 --- a/tigra_software/config/gps/CFG_files/simple_base_conf.txt +++ /dev/null @@ -1,92 +0,0 @@ -MON-VER - 0A 04 DC 00 45 58 54 20 43 4F 52 45 20 33 2E 30 31 20 28 64 62 30 63 38 39 29 00 00 00 00 00 00 00 00 30 30 30 38 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 33 2E 30 31 20 28 31 30 37 38 38 38 29 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 34 30 52 4F 56 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 30 2E 33 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 46 49 53 3D 30 78 45 46 34 30 31 35 20 28 32 30 30 30 35 38 29 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-ANT - 06 13 04 00 1B 00 F0 B9 -CFG-DAT - 06 06 02 00 00 00 -CFG-DGNSS - 06 70 04 00 03 00 00 00 -CFG-GNSS - 06 3E 24 00 00 1C 1C 04 00 08 10 00 01 00 01 01 03 08 10 00 00 00 01 01 05 00 03 00 01 00 01 01 06 08 0E 00 01 00 01 01 -CFG-INF - 06 02 0A 00 00 00 00 00 FF FF 00 FF 00 00 -CFG-INF - 06 02 0A 00 01 00 00 00 07 07 00 07 07 00 -CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00 -CFG-LOGFILTER - 06 47 0C 00 01 00 00 00 00 00 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 21 08 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0A 0B 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0A 02 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 06 00 00 00 01 00 00 -CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0A 21 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 01 22 00 00 00 01 00 00 -CFG-MSG - 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06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 23 00 23 00 00 00 00 00 -CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 C2 01 00 00 00 20 00 00 00 00 00 -CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 -CFG-PRT - 06 00 14 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-RATE - 06 08 06 00 F4 01 01 00 01 00 -CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00 -CFG-RXM - 06 11 02 00 48 00 -CFG-TP5 - 06 31 20 00 00 01 00 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 77 00 00 00 -CFG-TP5 - 06 31 20 00 01 01 00 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 7E 00 00 00 -CFG-USB - 06 1B 6C 00 46 15 A8 01 00 00 00 00 64 00 02 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 47 4E 53 53 20 72 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 \ No newline at end of file diff --git a/tigra_software/config/gps/CFG_files/simple_rover_conf.txt b/tigra_software/config/gps/CFG_files/simple_rover_conf.txt deleted file mode 100644 index 1781d44..0000000 --- a/tigra_software/config/gps/CFG_files/simple_rover_conf.txt +++ /dev/null @@ -1,92 +0,0 @@ -MON-VER - 0A 04 DC 00 45 58 54 20 43 4F 52 45 20 33 2E 30 31 20 28 64 62 30 63 38 39 29 00 00 00 00 00 00 00 00 30 30 30 38 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 33 2E 30 31 20 28 31 30 37 38 38 38 29 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 34 30 52 4F 56 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 30 2E 33 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 46 49 53 3D 30 78 45 46 34 30 31 35 20 28 32 30 30 30 35 38 29 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-ANT - 06 13 04 00 1B 00 F0 B9 -CFG-DAT - 06 06 02 00 00 00 -CFG-DGNSS - 06 70 04 00 03 00 00 00 -CFG-GNSS - 06 3E 24 00 00 1C 1C 04 00 08 10 00 01 00 01 01 03 08 10 00 00 00 01 01 05 00 03 00 01 00 01 01 06 08 0E 00 01 00 01 01 -CFG-INF - 06 02 0A 00 00 00 00 00 FF FF 00 FF 00 00 -CFG-INF - 06 02 0A 00 01 00 00 00 07 07 00 07 07 00 -CFG-ITFM - 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06 01 08 00 F5 54 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 F5 57 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 F5 7C 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 F5 7F 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 F5 E6 00 00 00 00 00 00 -CFG-MSG - 06 01 08 00 F5 FE 00 00 00 00 00 00 -CFG-NAV5 - 06 24 24 00 FF FF 02 03 00 00 00 00 10 27 00 00 0A 00 FA 00 FA 00 64 00 5E 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-NAVX5 - 06 23 28 00 02 00 FF FF 7F 03 00 00 03 01 03 14 06 00 00 01 00 00 4B 07 00 01 00 00 01 01 01 00 00 64 00 00 00 01 12 00 00 00 00 00 -CFG-NMEA - 06 17 14 00 00 40 00 02 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 -CFG-ODO - 06 1E 14 00 00 00 00 00 00 00 00 00 19 46 19 66 0A 32 00 00 99 4C 00 00 -CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 23 00 23 00 00 00 00 00 -CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 C2 01 00 00 00 20 00 00 00 00 00 -CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 -CFG-PRT - 06 00 14 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 -CFG-RATE - 06 08 06 00 F4 01 01 00 01 00 -CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00 -CFG-RXM - 06 11 02 00 48 00 -CFG-TP5 - 06 31 20 00 00 01 00 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 77 00 00 00 -CFG-TP5 - 06 31 20 00 01 01 00 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 7E 00 00 00 -CFG-USB - 06 1B 6C 00 46 15 A8 01 00 00 00 00 64 00 02 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 47 4E 53 53 20 72 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 \ No newline at end of file diff --git a/tigra_software/config/gps/c94_m8p_rover.yaml b/tigra_software/config/gps/c94_m8p_rover.yaml deleted file mode 100644 index a4600e8..0000000 --- a/tigra_software/config/gps/c94_m8p_rover.yaml +++ /dev/null @@ -1,120 +0,0 @@ -# Configuration Settings for C94-M8P device -# https://github.com/KumarRobotics/ublox -# https://github.com/KumarRobotics/ublox/blob/master/ublox_gps/config/c94_m8p_rover.yaml - -device: /dev/ttyACM0 # имя файла устройста (dmesg) -raw_data: false - -# load: # загрузка конфига в NVRAM -# mask: 3103 -# device: 4 # Save to EEPROM - -save: # сохранение конфига в NVRAM - mask: 3103 - device: 4 # Save to EEPROM - -uart1: - baudrate: 19200 - in: 32 - out: 0 - -# debug: 1 - -frame_id: gps # имя tf фрейма -rate: 1 # частота получаемых в топик GPS данных -nav_rate: 1 # частота формирования GPS данных в плате -enable_ppp: false -config_on_startup: false - -dynamic_model: automotive -fix_mode: auto - -# конфигурация созвездий -gnss: - gps: true - glonass: true - beidou: false - galileo: false - qzss: false - qzss_sig_cfg: false - imes: false - -nmea: - set: true - version: 65 - num_sv: 8 - sv_numbering: 1 - compat: true - consider: true - limit82: true - high_prec: false - filter: - pos: true - msk_pos: true - time: true - date: true - sbas: true - gps_only: true - track: true - gnssToFilter: - gps: true - sbas: true - qzss: true - glonass: false - beidou: true - main_talker_id: 1 - gsv_talker_id: 1 - bds_talker_id: [0,0] - -save_on_shutdown: true -clear_bbr: false - -dgnss_mode: 3 # 2 - FLOAT RTK; 3 - FIX RTK -tmode3: 0 # режим для базы - -# сообщения в консоль -inf: - debug: true - error: true - notice: true - test: true - warning: true - -# Enable u-blox message topics -publish: - aid: - alm: true - eph: true - hui: true - rxm: - alm: true - eph: true - raw: true - rtcm: true - sfrb: true - mon: - hw: true - nav: - att: true - clock: true - posecef: true - posllh: true - pvt: true - relposned: true - heading: true - sat: true - sol: true - status: true - svin: true - svinfo: true - velned: true - esf: - alg: true - ins: true - meas: true - raw: true - status: true - hnr: - pvt: true - tim: - tm2: true diff --git a/tigra_software/config/gps/zed_f9p_rover.yaml b/tigra_software/config/gps/zed_f9p_rover.yaml deleted file mode 100644 index fd5245c..0000000 --- a/tigra_software/config/gps/zed_f9p_rover.yaml +++ /dev/null @@ -1,120 +0,0 @@ -# Configuration Settings for ZED-F9P device -# https://github.com/KumarRobotics/ublox -# https://github.com/KumarRobotics/ublox/blob/master/ublox_gps/config/zed_f9p.yaml - -device: /dev/ttyACM0 # имя файла устройста (dmesg) -raw_data: false - -# load: # загрузка конфига в NVRAM -# mask: 3103 -# device: 4 # Save to EEPROM - -save: # сохранение конфига в NVRAM - mask: 3103 - device: 4 # Save to EEPROM - -uart1: - baudrate: 19200 - in: 32 - out: 0 - -# debug: 1 - -frame_id: gps # имя tf фрейма -rate: 1 # частота получаемых в топик GPS данных -nav_rate: 1 # частота формирования GPS данных в плате -enable_ppp: false -config_on_startup: false - -dynamic_model: automotive -fix_mode: auto - -# конфигурация созвездий -gnss: - gps: true - glonass: true - beidou: true - galileo: true - qzss: false - qzss_sig_cfg: false - imes: false - -nmea: - set: true - version: 65 - num_sv: 8 - sv_numbering: 1 - compat: true - consider: true - limit82: true - high_prec: false - filter: - pos: true - msk_pos: true - time: true - date: true - sbas: true - gps_only: true - track: true - gnssToFilter: - gps: true - sbas: true - qzss: true - glonass: false - beidou: true - main_talker_id: 1 - gsv_talker_id: 1 - bds_talker_id: [0,0] - -save_on_shutdown: true -clear_bbr: false - -dgnss_mode: 3 # 2 - FLOAT RTK; 3 - FIX RTK -tmode3: 0 # режим для базы - -# сообщения в консоль -inf: - debug: true - error: true - notice: true - test: true - warning: true - -# Enable u-blox message topics -publish: - aid: - alm: true - eph: true - hui: true - rxm: - alm: true - eph: true - raw: true - rtcm: true - sfrb: true - mon: - hw: true - nav: - att: true - clock: true - posecef: true - posllh: true - pvt: true - relposned: true - heading: true - sat: true - sol: true - status: true - svin: true - svinfo: true - velned: true - esf: - alg: true - ins: true - meas: true - raw: true - status: true - hnr: - pvt: true - tim: - tm2: true diff --git a/tigra_software/config/robot_localization/ekf_global.yaml b/tigra_software/config/robot_localization/ekf_global.yaml index d020ec2..9cb1b88 100644 --- a/tigra_software/config/robot_localization/ekf_global.yaml +++ b/tigra_software/config/robot_localization/ekf_global.yaml @@ -121,8 +121,8 @@ debug: false debug_out_file: ekf_global.txt # sim -process_noise_covariance: [0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (x) - 0, 0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (y) +process_noise_covariance: [0.00002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (x) + 0, 0.00002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (y) 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -137,6 +137,8 @@ process_noise_covariance: [0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # / 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3] +dynamic_process_noise_covariance: true + initial_estimate_covariance: [0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (x) 0, 0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (y) 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -170,6 +172,8 @@ initial_estimate_covariance: [0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3] +# dynamic_process_noise_covariance: true + # initial_estimate_covariance: [0.00025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (x) # 0, 0.00025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /odometry/gps (y) # 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -186,8 +190,6 @@ initial_estimate_covariance: [0.002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] -dynamic_process_noise_covariance: true - reset_on_time_jump: false predict_to_current_time: true disabled_at_startup: false diff --git a/tigra_software/config/robot_localization/ekf_local.yaml b/tigra_software/config/robot_localization/ekf_local.yaml index 14bb03f..7fce279 100644 --- a/tigra_software/config/robot_localization/ekf_local.yaml +++ b/tigra_software/config/robot_localization/ekf_local.yaml @@ -28,7 +28,7 @@ initial_state: [0.0, 0.0, 0.0, # rgbd odometry (~30 Hz) odom0: /rtabmap/visual_odometry odom0_config: [true, true, false, - false, false, true, + false, false, false, true, true, false, false, false, false, false, false, false] @@ -40,7 +40,7 @@ odom0_nodelay: true # IMU in RealSense D435i (20 Hz) imu0: /front_rs_d455_camera/imu imu0_config: [false, false, false, - false, false, false, + false, false, true, false, false, false, false, false, true, true, false, false] @@ -97,34 +97,36 @@ debug: false debug_out_file: ekf_global.txt # sim -process_noise_covariance: [0.02, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (x) - 0, 0.02, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (y) +process_noise_covariance: [0.000002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (x) + 0, 0.000002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (y) 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.001, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (yaw) - 0, 0, 0, 0, 0, 0, 0.02,0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_x) - 0, 0, 0, 0, 0, 0, 0, 0.02,0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_y) + 0, 0, 0, 0, 0, 0.001, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /front_rs_d455_camera/imu (yaw) + 0, 0, 0, 0, 0, 0, 0.00002,0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_x) + 0, 0, 0, 0, 0, 0, 0, 0.00002,0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_y) 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.004,0, 0, 0, # /front_rs_d455_camera/imu (v_yaw) + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0004,0, 0, 0, # /front_rs_d455_camera/imu (v_yaw) 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.004,0, 0, # /front_rs_d455_camera/imu (a_x) 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3] -initial_estimate_covariance: [0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (x) - 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (y) +dynamic_process_noise_covariance: true + +initial_estimate_covariance: [0.0000025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (x) + 0, 0.0000025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (y) 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0015, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (yaw) - 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_x) - 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_y) + 0, 0, 0, 0, 0, 0, 0.000025, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_x) + 0, 0, 0, 0, 0, 0, 0, 0.000025, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (v_y) 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.006, 0, 0, 0, # /rs_camera/imu (v_yaw) + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0006, 0, 0, 0, # /rs_camera/imu (v_yaw) 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.006, 0, 0, # /rs_camera/imu (a_x) 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] @@ -146,6 +148,8 @@ initial_estimate_covariance: [0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3] +# dynamic_process_noise_covariance: true + # initial_estimate_covariance: [0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (x) # 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # /rtabmap/visual_odometry (y) # 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -162,8 +166,6 @@ initial_estimate_covariance: [0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, # # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, # 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] -dynamic_process_noise_covariance: true - reset_on_time_jump: false predict_to_current_time: true disabled_at_startup: false diff --git a/tigra_software/config/rqt/foxglove/odom_fusing_debugging.json b/tigra_software/config/rqt/foxglove/odom_fusing_debugging.json index d2ca82f..d3bcdeb 100644 --- a/tigra_software/config/rqt/foxglove/odom_fusing_debugging.json +++ b/tigra_software/config/rqt/foxglove/odom_fusing_debugging.json @@ -41,10 +41,17 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/rtabmap/visual_odometry.covariance" + "foxglovePanelTitle": "/rtabmap/visual_odometry.covariance", + "followingViewWidth": 10 }, "Plot!3o0u8l0": { "paths": [ + { + "timestampMethod": "receiveTime", + "value": "/front_rs_d455_camera/imu.orientation_covariance[8:8]", + "enabled": true, + "label": "/front_rs_d455_camera/imu.yaw.covariance" + }, { "timestampMethod": "receiveTime", "value": "/front_rs_d455_camera/imu.angular_velocity_covariance[8:8]", @@ -78,7 +85,8 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/front_rs_d455_camera/imu.covariance" + "foxglovePanelTitle": "/front_rs_d455_camera/imu.covariance", + "followingViewWidth": 10 }, "Plot!tbj14v": { "paths": [ @@ -127,7 +135,8 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/odometry/filtered/local.covariance" + "foxglovePanelTitle": "/odometry/filtered/local.covariance", + "followingViewWidth": 10 }, "Plot!a3ohx4": { "paths": [ @@ -176,7 +185,8 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/odometry/gps.covariance" + "foxglovePanelTitle": "/odometry/gps.covariance", + "followingViewWidth": 10 }, "Plot!34apujt": { "paths": [ @@ -207,7 +217,8 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/odometry/filtered/local.covariance" + "foxglovePanelTitle": "/odometry/filtered/local.covariance", + "followingViewWidth": 10 }, "Plot!3cjxai": { "paths": [ @@ -244,7 +255,8 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/front_rs_d455_camera/imu.covariance" + "foxglovePanelTitle": "/front_rs_d455_camera/imu.covariance", + "followingViewWidth": 10 }, "Plot!1pdo2mh": { "paths": [ @@ -293,7 +305,8 @@ "isSynced": false, "xAxisVal": "timestamp", "sidebarDimension": 240, - "foxglovePanelTitle": "/odometry/filtered/global.covariance" + "foxglovePanelTitle": "/odometry/filtered/global.covariance", + "followingViewWidth": 10 }, "Tab!26zfcs4": { "activeTabIdx": 1, diff --git a/tigra_software/config/rqt/mapviz/common_sim.mvc b/tigra_software/config/rqt/mapviz/common_sim.mvc new file mode 100644 index 0000000..e9b8f03 --- /dev/null +++ b/tigra_software/config/rqt/mapviz/common_sim.mvc @@ -0,0 +1,176 @@ +capture_directory: "~" +fixed_frame: map +target_frame: base_footprint +fix_orientation: true +rotate_90: false +enable_antialiasing: true +show_displays: true +show_status_bar: true +show_capture_tools: true +window_width: 1920 +window_height: 948 +view_scale: 0.1798587 +offset_x: 0 +offset_y: 0 +use_latest_transforms: true +background: "#a0a0a4" +displays: + - type: mapviz_plugins/tile_map + name: localhost:8080 + config: + visible: true + collapsed: true + custom_sources: + - base_url: http://localhost:8080/wmts/gm_layer/gm_grid/{level}/{x}/{y}.png + max_zoom: 19 + name: localhost + type: wmts + bing_api_key: "" + source: localhost + - type: mapviz_plugins/odometry + name: /ground_truth/state + config: + visible: true + collapsed: true + topic: /ground_truth/state + color: "#00ff00" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + show_laps: false + show_covariance: false + show_all_covariances: false + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /rtabmap/visual_odometry + config: + visible: true + collapsed: true + topic: /rtabmap/visual_odometry + color: "#0000ff" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + show_laps: false + show_covariance: true + show_all_covariances: false + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /tigra/wheel_odom + config: + visible: false + collapsed: true + topic: /tigra/wheel_odom + color: "#ff00ff" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + show_laps: false + show_covariance: false + show_all_covariances: false + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /odometry/filtered/local + config: + visible: true + collapsed: true + topic: /odometry/filtered/local + color: "#ff0000" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + show_laps: false + show_covariance: true + show_all_covariances: false + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /odometry/filtered/global + config: + visible: true + collapsed: true + topic: /odometry/filtered/global + color: "#ffff00" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + show_laps: false + show_covariance: true + show_all_covariances: false + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /odometry/gps + config: + visible: false + collapsed: true + topic: /odometry/gps + color: "#00ffff" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + show_laps: false + show_covariance: false + show_all_covariances: false + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/navsat + name: /top_ublox_gps_sensor/fix + config: + visible: true + collapsed: true + topic: /top_ublox_gps_sensor/fix + color: "#204a87" + draw_style: points + position_tolerance: 1 + buffer_size: 0 + - type: mapviz_plugins/navsat + name: /gps/filtered + config: + visible: true + collapsed: true + topic: /gps/filtered + color: "#c17d11" + draw_style: points + position_tolerance: 0 + buffer_size: 0 + - type: mapviz_plugins/pointcloud2 + name: /front_lslidar_c16_lidar_point_cloud + config: + visible: true + collapsed: true + topic: /front_lslidar_c16_lidar_point_cloud + size: 5 + buffer_size: 1 + alpha: 0.2000000029802322 + color_transformer: ring + min_color: "#ffffff" + max_color: "#000000" + value_min: 0 + value_max: 100 + use_rainbow: true + use_automaxmin: true + unpack_rgb: false + - type: mapviz_plugins/image + name: /front_rs_d455_camera/color/image_raw + config: + visible: true + collapsed: true + topic: /front_rs_d455_camera/color/image_raw + anchor: top left + units: percent + offset_x: 0 + offset_y: 0 + width: 30 + height: 26.9 + keep_ratio: true + image_transport: default \ No newline at end of file diff --git a/tigra_software/config/rqt/mapviz/pepelac.mvc b/tigra_software/config/rqt/mapviz/pepelac.mvc new file mode 100644 index 0000000..4dd5ef5 --- /dev/null +++ b/tigra_software/config/rqt/mapviz/pepelac.mvc @@ -0,0 +1,49 @@ +capture_directory: "~" +fixed_frame: base_footprint +target_frame: +fix_orientation: true +rotate_90: false +enable_antialiasing: true +show_displays: true +show_status_bar: true +show_capture_tools: true +window_width: 3072 +window_height: 1600 +view_scale: 0.1798587 +offset_x: 0 +offset_y: 0 +use_latest_transforms: true +background: "#a0a0a4" +displays: + - type: mapviz_plugins/tile_map + name: localhost:8080 + config: + visible: true + collapsed: true + custom_sources: + - base_url: http://localhost:8080/wmts/gm_layer/gm_grid/{level}/{x}/{y}.png + max_zoom: 19 + name: localhost + type: wmts + bing_api_key: "" + source: localhost + - type: mapviz_plugins/navsat + name: /top_ublox_gps_sensor/fix + config: + visible: true + collapsed: true + topic: /top_ublox_gps_sensor/fix + color: "#204a87" + draw_style: points + position_tolerance: 1 + buffer_size: 0 + - type: mapviz_plugins/navsat + name: /gps/filtered + config: + visible: true + collapsed: true + topic: /gps/filtered + color: "#c17d11" + draw_style: points + position_tolerance: 0 + buffer_size: 0 \ No newline at end of file diff --git a/tigra_software/config/rqt/mapviz/rosbag_nami.mvc b/tigra_software/config/rqt/mapviz/rosbag_nami.mvc new file mode 100644 index 0000000..4f4e021 --- /dev/null +++ b/tigra_software/config/rqt/mapviz/rosbag_nami.mvc @@ -0,0 +1,128 @@ +capture_directory: "~" +fixed_frame: map +target_frame: base_footprint +fix_orientation: true +rotate_90: false +enable_antialiasing: true +show_displays: true +show_status_bar: true +show_capture_tools: true +window_width: 3072 +window_height: 1600 +view_scale: 0.3216818 +offset_x: 0 +offset_y: 0 +use_latest_transforms: true +background: "#a0a0a4" +displays: + - type: mapviz_plugins/tile_map + name: localhost:8080 + config: + visible: true + collapsed: true + custom_sources: + - base_url: http://localhost:8080/wmts/gm_layer/gm_grid/{level}/{x}/{y}.png + max_zoom: 19 + name: localhost + type: wmts + bing_api_key: "" + source: localhost + - type: mapviz_plugins/odometry + name: /odometry/filtered/local + config: + visible: true + collapsed: true + topic: /odometry/filtered/local + color: "#00ff00" + draw_style: lines + position_tolerance: 0 + buffer_size: 0 + show_laps: false + show_covariance: true + show_all_covariances: true + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /odometry/filtered/global + config: + visible: true + collapsed: true + topic: /odometry/filtered/global + color: "#ff0000" + draw_style: lines + position_tolerance: 0 + buffer_size: 0 + show_laps: false + show_covariance: true + show_all_covariances: true + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/odometry + name: /odometry/gps + config: + visible: true + collapsed: true + topic: /odometry/gps + color: "#0000ff" + draw_style: lines + position_tolerance: 0 + buffer_size: 0 + show_laps: false + show_covariance: true + show_all_covariances: true + static_arrow_sizes: false + arrow_size: 25 + show_timestamps: 0 + - type: mapviz_plugins/image + name: /rs_camera/color/image_raw + config: + visible: true + collapsed: true + topic: /rs_camera/color/image_raw + anchor: top left + units: pixels + offset_x: 0 + offset_y: 0 + width: 598 + height: 449 + keep_ratio: true + image_transport: default + - type: mapviz_plugins/navsat + name: /zed_f9p/fix + config: + visible: true + collapsed: true + topic: /zed_f9p/fix + color: "#204a87" + draw_style: points + position_tolerance: 1 + buffer_size: 0 + - type: mapviz_plugins/navsat + name: /gps/filtered + config: + visible: true + collapsed: true + topic: /gps/filtered + color: "#c17d11" + draw_style: points + position_tolerance: 0 + buffer_size: 0 + - type: mapviz_plugins/pointcloud2 + name: /lslidar_point_cloud + config: + visible: true + collapsed: true + topic: /lslidar_point_cloud + size: 5 + buffer_size: 1 + alpha: 1 + color_transformer: intensity + min_color: "#ffffff" + max_color: "#000000" + value_min: 0 + value_max: 100 + use_rainbow: true + use_automaxmin: true + unpack_rgb: false \ No newline at end of file diff --git a/tigra_software/config/rqt/rviz/common_sim.rviz b/tigra_software/config/rqt/rviz/common_sim.rviz index daf5e72..1580867 100644 --- a/tigra_software/config/rqt/rviz/common_sim.rviz +++ b/tigra_software/config/rqt/rviz/common_sim.rviz @@ -31,7 +31,7 @@ Toolbars: Visualization Manager: Class: "" Displays: - - Alpha: 0.30000001192092896 + - Alpha: 0.20000000298023224 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 @@ -62,20 +62,12 @@ Visualization Manager: Value: true front_axis_link: Value: true - front_left_steer_link: - Value: true front_left_suspension_link: Value: true - front_left_wheel_link: - Value: true front_lslidar_c16_lidar_link: Value: true - front_right_steer_link: - Value: true front_right_suspension_link: Value: true - front_right_wheel_link: - Value: true front_rs_d455_camera_imu_link: Value: true front_rs_d455_camera_link: @@ -86,18 +78,16 @@ Visualization Manager: Value: true map: Value: true + map__identity: + Value: true odom: Value: true rear_axis_link: Value: true rear_left_suspension_link: Value: true - rear_left_wheel_link: - Value: true rear_right_suspension_link: Value: true - rear_right_wheel_link: - Value: true rear_rs_d435i_camera_imu_link: Value: true rear_rs_d435i_camera_link: @@ -114,6 +104,8 @@ Visualization Manager: Show Names: true Tree: map: + map__identity: + {} odom: base_footprint: base_link: @@ -122,26 +114,20 @@ Visualization Manager: rear_axis_link: front_axis_link: front_left_suspension_link: - front_left_steer_link: - front_left_wheel_link: - {} + {} front_lslidar_c16_lidar_link: {} front_right_suspension_link: - front_right_steer_link: - front_right_wheel_link: - {} + {} front_rs_d455_camera_link: front_rs_d455_camera_imu_link: {} front_rs_d455_camera_optical_frame: {} rear_left_suspension_link: - rear_left_wheel_link: - {} + {} rear_right_suspension_link: - rear_right_wheel_link: - {} + {} rear_rs_d435i_camera_link: rear_rs_d435i_camera_imu_link: {} @@ -254,6 +240,23 @@ Visualization Manager: Topic: /move_base/local_costmap/footprint Unreliable: false Value: true + - Alpha: 0.800000011920929 + Blocks: 3 + Class: rviz_plugins/AerialMapDisplay + Draw Behind: true + Enabled: true + Map Frame: map + Map transform type: NavSatFix Messages and Map Frame + Name: maptile + Object URI: http://localhost:8080/wmts/gm_layer/gm_grid/{z}/{x}/{y}.png + Topic: /top_ublox_gps_sensor/fix + UTM Frame: utm + UTM Zone: -1 + Value: true + XY Reference: + Z Offset: 0 + Z Reference: + Zoom: 17 - Alpha: 0.5 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -314,6 +317,7 @@ Visualization Manager: grid_map: true local_costmap: true local_plan: true + maptile: true move_base_goal: true Zoom Factor: 1 - Acceleration properties: @@ -400,6 +404,7 @@ Visualization Manager: grid_map: true local_costmap: true local_plan: true + maptile: true move_base_goal: true Zoom Factor: 1 - Alpha: 1 @@ -425,7 +430,7 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.05000000074505806 + Size (m): 0.30000001192092896 Style: Spheres Topic: /front_lslidar_c16_lidar_point_cloud Unreliable: false @@ -442,119 +447,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_axis_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_steer_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_suspension_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_lslidar_c16_lidar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_steer_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_suspension_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 - front_rs_d455_camera_imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_rs_d455_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_rs_d455_camera_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - high_freq_zero_noise_ublox_gps_sensor_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_axis_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_left_suspension_link: - 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_right_suspension_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 - rear_rs_d435i_camera_imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_rs_d435i_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_rs_d435i_camera_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - top_ublox_gps_sensor_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Name: /robot_description Robot Description: robot_description TF Prefix: "" @@ -788,25 +680,25 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 20 + Distance: 274.6280212402344 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 1 + Field of View: 0.7853981852531433 Focal Point: X: 0 Y: 0 Z: 0 - Focal Shape Fixed Size: true + Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.800000011920929 + Pitch: 0.7853981852531433 Target Frame: - Yaw: 3.141590118408203 + Yaw: 0.7853981852531433 Saved: ~ Window Geometry: /front_rs_d455_camera/color/image_raw: @@ -818,7 +710,7 @@ Window Geometry: Height: 1043 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002b700000355fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000232000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000004a002f00660072006f006e0074005f00720073005f0064003400350035005f00630061006d006500720061002f0063006f006c006f0072002f0069006d006100670065005f00720061007701000002750000011d0000001600ffffff000000010000025400000355fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b8000000a400fffffffb0000004a002f0072006500610072005f00720073005f00640034003300350069005f00630061006d006500720061002f0063006f006c006f0072002f0069006d006100670065005f00720061007701000002fb000000970000001600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000002690000035500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000022400000355fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000232000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000004a002f00660072006f006e0074005f00720073005f0064003400350035005f00630061006d006500720061002f0063006f006c006f0072002f0069006d006100670065005f00720061007701000002750000011d0000001600ffffff00000001000001b800000355fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b8000000a400fffffffb0000004a002f0072006500610072005f00720073005f00640034003300350069005f00630061006d006500720061002f0063006f006c006f0072002f0069006d006100670065005f00720061007701000002fb000000970000001600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003980000035500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: diff --git a/tigra_software/config/rqt/rviz/full_slam_pepelac_view.rviz b/tigra_software/config/rqt/rviz/full_slam_pepelac_view.rviz new file mode 100644 index 0000000..81f7cd8 --- /dev/null +++ b/tigra_software/config/rqt/rviz/full_slam_pepelac_view.rviz @@ -0,0 +1,526 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - //rtabmap/visual_odometry1/Shape1 + - //yahboom/imu/raw1/Box properties1 + - //simpleRTK2B_rover/navheading1/Box properties1 + Splitter Ratio: 0.8340611457824707 + Tree Height: 1334 + - 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: /front_rs_d455_camera/color/image_raw/compressed + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + 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: 20 + Reference Frame: map + Value: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_footprint__identity: + Value: true + front_rs_d455_camera_accel_frame: + Value: true + front_rs_d455_camera_accel_optical_frame: + Value: true + front_rs_d455_camera_aligned_depth_to_color_frame: + Value: true + front_rs_d455_camera_color_frame: + Value: true + front_rs_d455_camera_color_optical_frame: + Value: true + front_rs_d455_camera_depth_frame: + Value: true + front_rs_d455_camera_depth_optical_frame: + Value: true + front_rs_d455_camera_gyro_frame: + Value: true + front_rs_d455_camera_imu_optical_frame: + Value: true + front_rs_d455_camera_infra1_frame: + Value: true + front_rs_d455_camera_infra1_optical_frame: + Value: true + front_rs_d455_camera_infra2_frame: + Value: true + front_rs_d455_camera_infra2_optical_frame: + Value: true + front_rs_d455_camera_link: + Value: true + gps_moving_base: + Value: true + gps_rover: + Value: true + imu_raw_link: + Value: true + laser_link: + Value: true + map: + Value: true + odom: + Value: true + Marker Alpha: 1 + Marker Scale: 2 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_footprint: + base_footprint__identity: + {} + front_rs_d455_camera_link: + front_rs_d455_camera_accel_frame: + front_rs_d455_camera_accel_optical_frame: + {} + front_rs_d455_camera_aligned_depth_to_color_frame: + front_rs_d455_camera_color_optical_frame: + {} + front_rs_d455_camera_color_frame: + {} + front_rs_d455_camera_depth_frame: + front_rs_d455_camera_depth_optical_frame: + {} + front_rs_d455_camera_gyro_frame: + front_rs_d455_camera_imu_optical_frame: + {} + front_rs_d455_camera_infra1_frame: + front_rs_d455_camera_infra1_optical_frame: + {} + front_rs_d455_camera_infra2_frame: + front_rs_d455_camera_infra2_optical_frame: + {} + gps_moving_base: + {} + gps_rover: + {} + imu_raw_link: + {} + laser_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: mb_goal + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + - 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: false + Enabled: true + Keep: 10 + Name: /rtabmap/visual_odometry + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.5 + Head Radius: 0.20000000298023224 + Shaft Length: 2 + Shaft Radius: 0.10000000149011612 + Value: Arrow + Topic: /rtabmap/visual_odometry + Unreliable: false + Value: true + - 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: Billboards + Line Width: 0.10000000149011612 + Name: Global path + 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: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 204; 0; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.20000000298023224 + Name: Local path + 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/TebLocalPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 204; 0; 0 + Enabled: false + Name: Polygon + Queue Size: 10 + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: /rtabmap/grid_map + Topic: /rtabmap/grid_map + Unreliable: false + Use Timestamp: 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: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: RS front points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /front_rs_d455_camera/depth/color/points + Unreliable: false + 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/PointCloud2 + 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: /front_lslidar_c16_lidar_point_cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10999999940395355 + Style: Flat Squares + Topic: /front_lslidar_c16_lidar_point_cloud + Unreliable: false + 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/PointCloud2 + Color: 92; 53; 102 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 238; 238; 236 + Min Color: 0; 0; 0 + Name: LocalVoxel + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /move_base/local_costmap/rs_st_obstacle_layer/voxel_grid + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/TebLocalPlannerROS/teb_markers + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Acceleration properties: + Acc. vector alpha: 1 + Acc. vector color: 255; 0; 0 + Acc. vector scale: 1 + Derotate acceleration: true + Enable acceleration: false + Axes properties: + Axes scale: 1 + Enable axes: true + Box properties: + Box alpha: 0.30000001192092896 + Box color: 255; 0; 0 + Enable box: true + x_scale: 1 + y_scale: 1 + z_scale: 1 + Class: rviz_imu_plugin/Imu + Enabled: true + Name: /yahboom/imu/raw + Queue Size: 10 + Topic: /yahboom/imu/raw + Unreliable: false + Value: true + fixed_frame_orientation: true + - Acceleration properties: + Acc. vector alpha: 1 + Acc. vector color: 255; 0; 0 + Acc. vector scale: 1 + Derotate acceleration: true + Enable acceleration: false + Axes properties: + Axes scale: 1 + Enable axes: true + Box properties: + Box alpha: 0.30000001192092896 + Box color: 255; 0; 0 + Enable box: true + x_scale: 1 + y_scale: 1 + z_scale: 1 + Class: rviz_imu_plugin/Imu + Enabled: true + Name: /simpleRTK2B_rover/navheading + Queue Size: 10 + Topic: /simpleRTK2B_rover/navheading + Unreliable: false + Value: true + fixed_frame_orientation: true + - Class: rviz/Image + Enabled: true + Image Topic: /front_rs_d455_camera/color/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: /front_rs_d455_camera/color/image_raw/compressed + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + + + + Image Topic: /front_rs_d455_camera/aligned_depth_to_color/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: /front_rs_d455_camera/aligned_depth_to_color/image_raw/compressed + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: false + - Alpha: 0.699999988079071 + Blocks: 3 + Class: rviz_plugins/AerialMapDisplay + Draw Behind: false + Enabled: true + Map Frame: map + Map transform type: NavSatFix Messages and Map Frame + Name: AerialMapDisplay + Object URI: http://localhost:8080/wmts/gm_layer/gm_grid/{z}/{x}/{y}.png + Topic: /simpleRTK2B_moving_base/fix + UTM Frame: utm + UTM Zone: -1 + Value: true + XY Reference: + Z Offset: 0 + Z Reference: + Zoom: 18 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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: rtabmap/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: 81.78123474121094 + 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 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Yaw: 0.7853981852531433 + Saved: ~ +Window Geometry: + /front_rs_d455_camera/aligned_depth_to_color/image_raw/compressed: + collapsed: false + /front_rs_d455_camera/color/image_raw/compressed: + collapsed: false + Displays: + collapsed: false + Height: 1600 + 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: 3072 + X: 0 + Y: 54 diff --git a/tigra_software/config/rqt/rviz/pepelac_debug.rviz b/tigra_software/config/rqt/rviz/pepelac_debug.rviz new file mode 100644 index 0000000..0a25e70 --- /dev/null +++ b/tigra_software/config/rqt/rviz/pepelac_debug.rviz @@ -0,0 +1,187 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - //yahboom/imu/raw1/Box properties1 + - //yahboom/imu/filtered1/Box properties1 + Splitter Ratio: 0.5878962278366089 + Tree Height: 865 + - 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 + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + imu_filtered_link: + Value: true + imu_raw_link: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + imu_raw_link: + imu_filtered_link: + {} + Update Interval: 0 + Value: true + - Acceleration properties: + Acc. vector alpha: 1 + Acc. vector color: 255; 0; 0 + Acc. vector scale: 1 + Derotate acceleration: true + Enable acceleration: false + Axes properties: + Axes scale: 2 + Enable axes: true + Box properties: + Box alpha: 0.5 + Box color: 0; 0; 255 + Enable box: true + x_scale: 2 + y_scale: 1 + z_scale: 1 + Class: rviz_imu_plugin/Imu + Enabled: true + Name: /yahboom/imu/raw + Queue Size: 10 + Topic: /yahboom/imu/raw + Unreliable: false + Value: true + fixed_frame_orientation: true + - Acceleration properties: + Acc. vector alpha: 1 + Acc. vector color: 255; 0; 0 + Acc. vector scale: 1 + Derotate acceleration: true + Enable acceleration: false + Axes properties: + Axes scale: 2 + Enable axes: true + Box properties: + Box alpha: 0.5 + Box color: 255; 0; 0 + Enable box: true + x_scale: 2 + y_scale: 1 + z_scale: 1 + Class: rviz_imu_plugin/Imu + Enabled: true + Name: /yahboom/imu/filtered + Queue Size: 10 + Topic: /yahboom/imu/filtered + Unreliable: false + Value: true + fixed_frame_orientation: 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: + Angle: 0 + Class: rviz/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: 238.83868408203125 + Target Frame: + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001f70000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000001d1000000b50000000000000000fb0000000c00430061006d0065007200610000000236000000940000000000000000fb0000000c00430061006d00650072006101000002f7000000ca0000000000000000000000010000015f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005210000003bfc0100000002fb0000000800540069006d00650000000000000005210000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000041e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/tigra_software/launch/debug/nami_dataset_debug.launch b/tigra_software/launch/debug/nami_dataset_debug.launch index 3985eb6..aa99c41 100644 --- a/tigra_software/launch/debug/nami_dataset_debug.launch +++ b/tigra_software/launch/debug/nami_dataset_debug.launch @@ -3,9 +3,13 @@ - + + + + + @@ -23,13 +27,18 @@ /zed_f9p/fix --start=5 --bags - $(find tigra_software)/bags/тестовый_заезд/rosbag_nami_3.bag - $(find tigra_software)/bags/тестовый_заезд/rosbag_nami_4.bag - $(find tigra_software)/bags/тестовый_заезд/rosbag_nami_5.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_3.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_4.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_5.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_6.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_7.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_8.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_9.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_10.bag "/> - + @@ -109,12 +118,32 @@ --multiplot-run-all "/> - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tigra_software/launch/debug/restoring_tf_static.launch b/tigra_software/launch/debug/nami_restoring_tf_static.launch similarity index 100% rename from tigra_software/launch/debug/restoring_tf_static.launch rename to tigra_software/launch/debug/nami_restoring_tf_static.launch diff --git a/tigra_software/launch/debug/sim_dataset_debug.launch b/tigra_software/launch/debug/sim_dataset_debug.launch index 32e8efa..c47a232 100644 --- a/tigra_software/launch/debug/sim_dataset_debug.launch +++ b/tigra_software/launch/debug/sim_dataset_debug.launch @@ -4,9 +4,13 @@ - + + - + + + + @@ -26,7 +30,17 @@ /front_lslidar_c16_lidar_point_cloud /top_ublox_gps_sensor/fix /high_freq_zero_noise_ublox_gps_sensor/fix - --bags $(find tigra_software)/bags/$(arg rosbag_filename).bag"/> + --bags + $(find tigra_software)/bags/$(arg rosbag_filename)_0.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_1.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_2.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_3.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_4.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_5.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_6.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_7.bag + $(find tigra_software)/bags/$(arg rosbag_filename)_8.bag + "/> @@ -96,18 +110,35 @@ - - - - + + + + - + + + + + + + + + + + + + + + + + + - + + - @@ -124,6 +155,8 @@ /top_ublox_gps_sensor/fix /high_freq_zero_noise_ublox_gps_sensor/fix --output-name $(find tigra_software)/bags/$(arg rosbag_filename).bag + --split + --size=10000 "/> diff --git a/tigra_software/launch/drivers/gps_rtk.launch b/tigra_software/launch/drivers/gps_rtk.launch index 38afd1a..f945e14 100644 --- a/tigra_software/launch/drivers/gps_rtk.launch +++ b/tigra_software/launch/drivers/gps_rtk.launch @@ -1,13 +1,8 @@ - - - - - - + + @@ -26,10 +21,4 @@ - - - \ No newline at end of file diff --git a/tigra_software/launch/sim/sim_start.launch b/tigra_software/launch/sim/sim_start.launch index 7facfff..12c9545 100644 --- a/tigra_software/launch/sim/sim_start.launch +++ b/tigra_software/launch/sim/sim_start.launch @@ -3,11 +3,15 @@ - - - + + + + + + + @@ -119,14 +123,31 @@ - + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/tigra_vision/launch/rgbd_odom.launch b/tigra_vision/launch/rgbd_odom.launch index e5c71ce..cd7e90d 100644 --- a/tigra_vision/launch/rgbd_odom.launch +++ b/tigra_vision/launch/rgbd_odom.launch @@ -11,26 +11,15 @@ - - - - - - - - - - - @@ -41,6 +30,15 @@ + + + + + + + + +