Bug fiix import patron.xacro and append packages realsense2
This commit is contained in:
Даниил Грабарь
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# Launching Dual RS ROS2 nodes
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The following example lanches two RS ROS2 nodes.
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```
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ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=<serial number of the first camera> serial_no2:=<serial number of the second camera>
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```
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## Example:
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Let's say the serial numbers of two RS cameras are 207322251310 and 234422060144.
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```
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ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:="'207322251310'" serial_no2:="'234422060144'"
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```
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or
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```
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ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144
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```
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## How to know the serial number?
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Method 1: Using the rs-enumerate-devices tool
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```
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rs-enumerate-devices | grep "Serial Number"
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```
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Method 2: Connect single camera and run
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```
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ros2 launch realsense2_camera rs_launch.py
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```
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and look for the serial number in the log printed to screen under "[INFO][...] Device Serial No:".
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# Using Multiple RS camera by launching each in differnet terminals
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Make sure you set a different name and namespace for each camera.
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Terminal 1:
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```
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ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1'
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```
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Terminal 2:
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```
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ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2'
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```
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# Multiple cameras showing a semi-unified pointcloud
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The D430 series of RealSense cameras use stereo based algorithm to calculate depth. This mean, a couple of cameras can operate on the same scene. For the purpose of this demonstration, let's say 2 cameras can be coupled to look at the same scene from 2 different points of view. See image:
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The schematic settings could be described as:
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X--------------------------------->cam_2
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|    (70 cm)
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|
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|
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| (60 cm)
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/
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cam_1
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The cameras have no data regarding their relative position. Thats up to a third party program to set. To simplify things, the coordinate system of cam_1 can be considered as the refernce coordinate system for the whole scene.
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The estimated translation of cam_2 from cam_1 is 70(cm) on X-axis and 60(cm) on Y-axis. Also, the estimated yaw angle of cam_2 relative to cam_1 as 90(degrees) clockwise. These are the initial parameters to be set for setting the transformation between the 2 cameras as follows:
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```
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ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.7 tf.translation.y:=0.6 tf.translation.z:=0.0 tf.rotation.yaw:=-90.0 tf.rotation.pitch:=0.0 tf.rotation.roll:=0.0
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```
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If the unified pointcloud result is not good, follow the below steps to fine-tune the calibaration.
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## Visualizing the pointclouds and fine-tune the camera calibration
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Launch 2 cameras in separate terminals:
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**Terminal 1:**
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```
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ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1'
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```
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**Terminal 2:**
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```
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ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2'
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```
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**Terminal 3:**
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```
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rviz2
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```
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Open rviz and set 'Fixed Frame' to camera1_link
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Add Pointcloud2-> By topic -> /camera1/camera1/depth/color/points
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Add Pointcloud2 -> By topic -> /camera2/camera2/depth/color/points
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**Terminal 4:**
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Run the 'set_cams_transforms.py' tool. It can be used to fine-tune the calibaration.
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```
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python src/realsense-ros/realsense2_camera/scripts/set_cams_transforms.py camera1_link camera2_link 0.7 0.6 0 -90 0 0
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```
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**Instructions printed by the tool:**
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```
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Using default file /home/user_name/ros2_ws/src/realsense-ros/realsense2_camera/scripts/_set_cams_info_file.txt
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Use given initial values.
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Press the following keys to change mode: x, y, z, (a)zimuth, (p)itch, (r)oll
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For each mode, press 6 to increase by step and 4 to decrease
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Press + to multiply step by 2 or - to divide
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Press Q to quit
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```
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Note that the tool prints the path of the current configuration file. It saves its last configuration automatically, all the time, to be used on the next run.
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After a lot of fiddling around, unified pointcloud looked better with the following calibaration:
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```
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x = 0.75
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y = 0.575
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z = 0
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azimuth = -91.25
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pitch = 0.75
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roll = 0
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```
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Now, use the above results in the launch file:
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```
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ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.75 tf.translation.y:=0.575 tf.translation.z:=0.0 tf.rotation.yaw:=-91.25 tf.rotation.pitch:=0.75 tf.rotation.roll:=0.0
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```
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@@ -0,0 +1,109 @@
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# Copyright 2023 RealSense, Inc. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# DESCRIPTION #
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# ----------- #
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# Use this launch file to launch 2 devices.
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# The Parameters available for definition in the command line for each camera are described in rs_launch.configurable_parameters
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# For each device, the parameter name was changed to include an index.
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# For example: to set camera_name for device1 set parameter camera_name1.
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# command line example:
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# ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=<serial number of 1st camera> serial_no2:=<serial number of 2nd camera>
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"""Launch realsense2_camera node."""
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import copy
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from launch import LaunchDescription, LaunchContext
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import launch_ros.actions
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from launch.actions import OpaqueFunction
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
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import sys
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import pathlib
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sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
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import os
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from ament_index_python.packages import get_package_share_directory
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sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
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import rs_launch
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local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera unique name'},
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{'name': 'camera_name2', 'default': 'camera2', 'description': 'camera unique name'},
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{'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
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{'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
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{'name': 'enable_color1', 'default': 'true', 'description': 'enable color stream'},
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{'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'},
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{'name': 'enable_depth1', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'pointcloud.enable1', 'default': 'true', 'description': 'enable pointcloud'},
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{'name': 'pointcloud.enable2', 'default': 'true', 'description': 'enable pointcloud'},
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{'name': 'spatial_filter.enable1', 'default': 'true', 'description': 'enable_spatial_filter'},
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{'name': 'spatial_filter.enable2', 'default': 'true', 'description': 'enable_spatial_filter'},
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{'name': 'temporal_filter.enable1', 'default': 'true', 'description': 'enable_temporal_filter'},
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{'name': 'temporal_filter.enable2', 'default': 'true', 'description': 'enable_temporal_filter'},
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{'name': 'tf.translation.x', 'default': '0.0', 'description': 'x'},
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{'name': 'tf.translation.y', 'default': '0.0', 'description': 'y'},
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{'name': 'tf.translation.z', 'default': '0.0', 'description': 'z'},
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{'name': 'tf.rotation.yaw', 'default': '0.0', 'description': 'yaw'},
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{'name': 'tf.rotation.pitch', 'default': '0.0', 'description': 'pitch'},
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{'name': 'tf.rotation.roll', 'default': '0.0', 'description': 'roll'},
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]
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def set_configurable_parameters(local_params):
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return dict([(param['original_name'], LaunchConfiguration(param['name'])) for param in local_params])
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def duplicate_params(general_params, posix):
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local_params = copy.deepcopy(general_params)
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for param in local_params:
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param['original_name'] = param['name']
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param['name'] += posix
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return local_params
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def launch_static_transform_publisher_node(context : LaunchContext):
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# Static transformation from camera1 to camera2
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node = launch_ros.actions.Node(
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name = "my_static_transform_publisher",
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package = "tf2_ros",
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executable = "static_transform_publisher",
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arguments = [context.launch_configurations['tf.translation.x'],
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context.launch_configurations['tf.translation.y'],
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context.launch_configurations['tf.translation.z'],
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context.launch_configurations['tf.rotation.yaw'],
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context.launch_configurations['tf.rotation.pitch'],
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context.launch_configurations['tf.rotation.roll'],
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context.launch_configurations['camera_name1'] + "_link",
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context.launch_configurations['camera_name2'] + "_link"]
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)
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return [node]
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def generate_launch_description():
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params1 = duplicate_params(rs_launch.configurable_parameters, '1')
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params2 = duplicate_params(rs_launch.configurable_parameters, '2')
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return LaunchDescription(
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rs_launch.declare_configurable_parameters(local_parameters) +
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rs_launch.declare_configurable_parameters(params1) +
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rs_launch.declare_configurable_parameters(params2) +
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[
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OpaqueFunction(function=rs_launch.launch_setup,
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kwargs = {'params' : set_configurable_parameters(params1),
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'param_name_suffix': '1'}),
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OpaqueFunction(function=rs_launch.launch_setup,
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kwargs = {'params' : set_configurable_parameters(params2),
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'param_name_suffix': '2'}),
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OpaqueFunction(function=launch_static_transform_publisher_node),
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launch_ros.actions.Node(
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package='rviz2',
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namespace='',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', [ThisLaunchFileDir(), '/rviz/dual_camera_pointcloud.rviz']]
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)
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])
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@@ -0,0 +1,194 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Grid1
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- /PointCloud21
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- /PointCloud22
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Splitter Ratio: 0.5
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Tree Height: 865
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/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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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_default_plugins/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: 0.029999999329447746
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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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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_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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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: PointCloud2
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /camera1/camera1/depth/color/points
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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: 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_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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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: PointCloud2
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /camera2/camera2/depth/color/points
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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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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: camera1_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /move_base_simple/goal
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 8.93685531616211
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.18814913928508759
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Y: -0.17941315472126007
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Z: 0.14549313485622406
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: -1.5697963237762451
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz_default_plugins)
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Yaw: 4.730405330657959
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: true
|
||||
QMainWindow State: 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
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1846
|
||||
X: 74
|
||||
Y: 27
|
||||
Reference in New Issue
Block a user