Transférer les fichiers vers 'Projet/pioneer_description/launch'
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18
Projet/pioneer_description/launch/frontier_map.launch
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18
Projet/pioneer_description/launch/frontier_map.launch
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<launch>
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<arg name="rviz_name" default="frontier_map"/>
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<arg name="model" default="$(find pioneer_description)/urdf/pioneer3dx.xacro"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
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<!-- send fake joint values -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="FALSE"/>
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</node>
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<!-- Combine joint values -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/$(arg rviz_name).rviz"/>
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</launch>
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437
Projet/pioneer_description/launch/pioneer.rviz
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437
Projet/pioneer_description/launch/pioneer.rviz
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Image1
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- /PointCloud21
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- /Camera1
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Splitter Ratio: 0.5
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Tree Height: 104
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: RPLidarLaserScan
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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OrbbecAstra_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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back_sonar:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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center_hubcap:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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center_wheel:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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chassis:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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front_sonar:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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laser:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_hub:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_wheel:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pilier_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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plaque_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_hub:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_wheel:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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swivel:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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top_plate:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 0.493153721
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Min Value: 0.427805096
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/LaserScan
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: RPLidarLaserScan
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Position Transformer: XYZ
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Queue Size: 1000
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Selectable: true
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Size (Pixels): 5
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Size (m): 0.0299999993
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Style: Squares
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Topic: /base_scan
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: SLAM Map
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Topic: /map
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Global Costmap
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Topic: /move_base/global_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Local Costmap
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Topic: /move_base/local_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.100000001
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.300000012
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Head Radius: 0.100000001
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Name: Goal Pose
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Shaft Length: 1
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||||||
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Shaft Radius: 0.0500000007
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Shape: Arrow
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Topic: /move_base/current_goal
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Unreliable: false
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||||||
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Value: true
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- Alpha: 1
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||||||
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Buffer Length: 1
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||||||
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Class: rviz/Path
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Color: 25; 255; 0
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Enabled: true
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||||||
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Head Diameter: 0.300000012
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||||||
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Head Length: 0.200000003
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||||||
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Length: 0.300000012
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||||||
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Line Style: Lines
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||||||
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Line Width: 0.0299999993
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||||||
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Name: Planned Path
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||||||
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Offset:
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X: 0
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Y: 0
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Z: 0
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||||||
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Pose Color: 255; 85; 255
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||||||
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Pose Style: None
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||||||
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Radius: 0.0299999993
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||||||
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Shaft Diameter: 0.100000001
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||||||
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Shaft Length: 0.100000001
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||||||
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Topic: /move_base/NavfnROS/plan
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||||||
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Unreliable: false
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Value: true
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- Alpha: 1
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||||||
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Buffer Length: 1
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Class: rviz/Path
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Color: 85; 0; 255
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Enabled: true
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Head Diameter: 0.300000012
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||||||
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: Local Planned Path
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /move_base/TrajectoryPlannerROS/local_plan
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 255; 0; 127
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: Global Planned Path
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /move_base/TrajectoryPlannerROS/global_plan
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Unreliable: false
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: true
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Name: Frontier Cells
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Topic: /frontier_cells
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: camera/depth/image_raw
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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||||||
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Color Transformer: ""
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||||||
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Decay Time: 0
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||||||
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Enabled: true
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||||||
|
Invert Rainbow: false
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||||||
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Max Color: 255; 255; 255
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||||||
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Max Intensity: 4096
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||||||
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Min Color: 0; 0; 0
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||||||
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Min Intensity: 0
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||||||
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Name: PointCloud2
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||||||
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Position Transformer: ""
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||||||
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Queue Size: 10
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||||||
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Selectable: true
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||||||
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Size (Pixels): 3
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||||||
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Size (m): 0.00999999978
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Style: Flat Squares
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||||||
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Topic: camera/depth/point
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Unreliable: false
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||||||
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Use Fixed Frame: true
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||||||
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Use rainbow: true
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||||||
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Value: true
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||||||
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- Class: rviz/Camera
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||||||
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Enabled: true
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||||||
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Image Rendering: background and overlay
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||||||
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Image Topic: camera/color/image_raw
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Name: Camera
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||||||
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Overlay Alpha: 0.5
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||||||
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Queue Size: 2
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||||||
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Transport Hint: raw
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||||||
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Unreliable: false
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||||||
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Value: true
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||||||
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Visibility:
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||||||
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Frontier Cells: true
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||||||
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Global Costmap: true
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||||||
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Global Planned Path: true
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||||||
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Goal Pose: true
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||||||
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Grid: true
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||||||
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Image: true
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||||||
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Local Costmap: true
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||||||
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Local Planned Path: true
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||||||
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Planned Path: true
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||||||
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PointCloud2: true
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||||||
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RPLidarLaserScan: true
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||||||
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RobotModel: true
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||||||
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SLAM Map: true
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||||||
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Value: true
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||||||
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Zoom Factor: 1
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||||||
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Enabled: true
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||||||
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Global Options:
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||||||
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Background Color: 48; 48; 48
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||||||
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Default Light: true
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||||||
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Fixed Frame: map
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||||||
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Frame Rate: 30
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||||||
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Name: root
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||||||
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Tools:
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||||||
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- Class: rviz/Interact
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||||||
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Hide Inactive Objects: true
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||||||
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- Class: rviz/MoveCamera
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||||||
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- Class: rviz/Select
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||||||
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- Class: rviz/FocusCamera
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||||||
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- Class: rviz/Measure
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||||||
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- Class: rviz/SetInitialPose
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||||||
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Topic: /initialpose
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||||||
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- Class: rviz/SetGoal
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||||||
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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||||||
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Single click: true
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||||||
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Topic: /clicked_point
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||||||
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Value: true
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||||||
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Views:
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||||||
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Current:
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||||||
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Class: rviz/Orbit
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||||||
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Distance: 17.9755001
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||||||
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Enable Stereo Rendering:
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||||||
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Stereo Eye Separation: 0.0599999987
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||||||
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Stereo Focal Distance: 1
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||||||
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Swap Stereo Eyes: false
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||||||
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Value: false
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||||||
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Focal Point:
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||||||
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X: 2.40261006
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||||||
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Y: -0.568551004
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||||||
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Z: -3.02844
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||||||
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Focal Shape Fixed Size: true
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||||||
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Focal Shape Size: 0.0500000007
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||||||
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Invert Z Axis: false
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||||||
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Name: Current View
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||||||
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Near Clip Distance: 0.00999999978
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||||||
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Pitch: 0.594797194
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||||||
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Target Frame: <Fixed Frame>
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||||||
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Value: Orbit (rviz)
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||||||
|
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
|
||||||
Loading…
Reference in a new issue