From 4418b1d0491c98352d8d3e6a530150575d577a45 Mon Sep 17 00:00:00 2001 From: Kevin Ge Date: Thu, 25 Apr 2024 11:46:29 -0500 Subject: [PATCH] feat: merge nav2 rviz configs with ppc --- data/navigator_default.rviz | 175 +++++++++++++++++++++++++++++------- 1 file changed, 143 insertions(+), 32 deletions(-) diff --git a/data/navigator_default.rviz b/data/navigator_default.rviz index 811b6f2c..9325104c 100644 --- a/data/navigator_default.rviz +++ b/data/navigator_default.rviz @@ -4,12 +4,13 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Global Options1 - /TF1/Frames1 - /Routes Paths1 - - /Cameras1 + - /Routes Paths1/Path1/Topic1 - /Grids1 - - /Marker1 - - /Marker1/Status1 + - /Nav21/Map1 + - /Pure Pursuit Controller1 Splitter Ratio: 0.5 Tree Height: 603 - Class: rviz_common/Selection @@ -57,34 +58,20 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /robot_description - Enabled: true + Enabled: false Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hero: - Alpha: 1 - Show Axes: false - Show Trail: false - model_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Mass Properties: Inertia: false Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 - Value: true + Value: false Visual Enabled: true - Class: rviz_default_plugins/TF Enabled: false @@ -183,7 +170,7 @@ Visualization Manager: Durability Policy: Volatile Filter size: 10 History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /planning/path Value: true Enabled: true @@ -239,9 +226,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0.9904967546463013 + Max Intensity: 0.9850215315818787 Min Color: 0; 73; 112 - Min Intensity: 0.7124737501144409 + Min Intensity: 0.716873288154602 Name: Filtered LiDAR Position Transformer: XYZ Selectable: true @@ -338,7 +325,7 @@ Visualization Manager: Displays: - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map - Color Scheme: raw + Color Scheme: map Draw Behind: true Enabled: false Name: Drivable Area @@ -541,17 +528,141 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/Marker Enabled: true - Name: Marker + Name: Planning Goal + Namespaces: + "": true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/goal_marker + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Planning Look Ahead Namespaces: - lookahead: true + "": true Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/barrier_marker + Value: /planning/look_ahead_marker Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /nav2/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /nav2/map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /nav2/global_costmap/published_footprint + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /nav2/plan + Value: true + Enabled: true + Name: Nav2 + - Class: rviz_common/Group + Displays: + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 1 + Name: Pure Pursuit Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /ppc/path + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Pure Pursuit Lookahead + Namespaces: + lookahead: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/barrier_marker + Value: true + Enabled: true + Name: Pure Pursuit Controller Enabled: true Global Options: Background Color: 222; 222; 222 @@ -598,7 +709,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 40.92072296142578 + Distance: 20.80792236328125 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -613,10 +724,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.649796724319458 + Pitch: 0.9497964382171631 Target Frame: Value: Orbit (rviz_default_plugins) - Yaw: 2.9573850631713867 + Yaw: 2.19738507270813 Saved: ~ Window Geometry: Birds Eye: @@ -634,13 +745,13 @@ Window Geometry: Height: 1016 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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 + QMainWindow State: 000000ff00000000fd00000004000000000000015600000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001c8000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003b00000296000000c700fffffffa000000010100000002fb0000000c00430061006d0065007200610000000000ffffffff0000000000000000fb000000100044006900730070006c0061007900730100000000000001560000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022c00000290fc0200000007fb0000000c00430061006d006500720061010000003b0000022f0000000000000000fb0000001400430065006e0074006500720020005200470042000000019b000006fb0000000000000000fb0000001000530065006d0061006e00740069006300000001d9000001b00000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000290000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb0000001800460072006f006e0074002000430061006d0065007200610000000000ffffffff000000000000000000000002000003c0000000d9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000051e00000106fc0100000013fb0000001000430061006d006500720061002000330100000000000001390000006f00fffffffb0000001000430061006d00650072006100200030010000013f0000013d0000006f00fffffffb0000001000430061006d006500720061002000320100000282000001430000006f00fffffffb0000001000430061006d0065007200610020003101000003cb000001530000006f00fffffffb00000012004200690072006400730020004500790065000000000000000bea0000006c00fffffffb00000014004200690072006400270073002000450079006501000000000000031e0000000000000000fb000000100052004700420020004c006500660074010000032a000002e00000000000000000fb00000014005200470042002000430065006e0074006500720100000616000002d50000000000000000fb0000001200520047004200200052006900670068007401000008f7000002f30000000000000000fb0000001a00530065006d0061006e0074006900630020004c0065006600740000000000000002780000000000000000fb0000001c00530065006d0061006e00740069006300200052006900670068007400000001de000001dc0000000000000000fb000000100052004700420020004c00650066007401000002d3000001dd0000000000000000fc000004b6000000ea0000000000fffffffa000000000200000002fb0000001c00530065006d0061006e0074006900630020005200690067006800740000000000ffffffff0000000000000000fb0000001200520047004200200052006900670068007401000008a2000001f50000000000000000fb00000014004200690072006400270073002000450079006500000004d1000001250000000000000000fb0000000a004400650070007400680000000000000007800000000000000000fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000a0049006d0061006700650000000000ffffffff0000000000000000000003c20000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true - Width: 1846 - X: 74 + Width: 1310 + X: 610 Y: 27