Transférer les fichiers vers 'Projet/pioneer_description/launch'

This commit is contained in:
Hadrien 2020-06-27 10:22:22 +02:00
parent af0081f05b
commit a36414a923
2 changed files with 455 additions and 0 deletions

View file

@ -0,0 +1,18 @@
<launch>
<arg name="rviz_name" default="frontier_map"/>
<arg name="model" default="$(find pioneer_description)/urdf/pioneer3dx.xacro"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="FALSE"/>
</node>
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/$(arg rviz_name).rviz"/>
</launch>

View file

@ -0,0 +1,437 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Image1
- /PointCloud21
- /Camera1
Splitter Ratio: 0.5
Tree Height: 104
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: RPLidarLaserScan
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: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
OrbbecAstra_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
center_hubcap:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
center_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chassis:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pilier_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plaque_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
swivel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_plate:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.493153721
Min Value: 0.427805096
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: AxisColor
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: RPLidarLaserScan
Position Transformer: XYZ
Queue Size: 1000
Selectable: true
Size (Pixels): 5
Size (m): 0.0299999993
Style: Squares
Topic: /base_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: SLAM Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Global Costmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: Goal Pose
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /move_base/current_goal
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Planned Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/NavfnROS/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 85; 0; 255
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Local Planned Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TrajectoryPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 127
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Global Planned Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Frontier Cells
Topic: /frontier_cells
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: camera/depth/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- 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: ""
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: ""
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: camera/depth/point
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Camera
Enabled: true
Image Rendering: background and overlay
Image Topic: camera/color/image_raw
Name: Camera
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Frontier Cells: true
Global Costmap: true
Global Planned Path: true
Goal Pose: true
Grid: true
Image: true
Local Costmap: true
Local Planned Path: true
Planned Path: true
PointCloud2: true
RPLidarLaserScan: true
RobotModel: true
SLAM Map: true
Value: true
Zoom Factor: 1
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
Topic: /initialpose
- 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: 17.9755001
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 2.40261006
Y: -0.568551004
Z: -3.02844
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.594797194
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.01859093
Saved: ~
Window Geometry:
Camera:
collapsed: false
Displays:
collapsed: false
Height: 744
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000178000000160000000000000000fb0000000a0049006d0061006700650100000125000000a60000001600fffffffb0000000a0049006d00610067006501000001ad000000d90000000000000000fb0000000c00430061006d00650072006101000001d1000000b50000001600ffffff000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1301
X: 65
Y: 24