Bug fiix import patron.xacro and append packages realsense2
This commit is contained in:
Даниил Грабарь
@@ -0,0 +1,17 @@
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# PointCloud Visualization
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The following example starts the camera and simultaneously opens RViz GUI to visualize the published pointcloud.
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```
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ros2 launch realsense2_camera rs_pointcloud_launch.py
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```
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Alternatively, start the camera terminal 1:
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```
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ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true
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```
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and in terminal 2 open rviz to visualize pointcloud.
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# PointCloud with different coordinate systems
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This example opens rviz and shows the camera model with different coordinate systems and the pointcloud, so it presents the pointcloud and the camera together.
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```
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ros2 launch realsense2_camera rs_d455_pointcloud_launch.py
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```
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@@ -0,0 +1,92 @@
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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 a device and visualize pointcloud along with the camera model D405.
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# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
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# command line example:
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# ros2 launch realsense2_camera rs_d405_pointcloud_launch.py
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"""Launch realsense2_camera node."""
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from launch import LaunchDescription
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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 os
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import sys
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import pathlib
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import xacro
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import tempfile
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from ament_index_python.packages import get_package_share_directory
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sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
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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_name', 'default': 'camera', 'description': 'camera unique name'},
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{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
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{'name': 'device_type', 'default': "d405", 'description': 'choose device by type'},
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{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
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{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
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]
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def to_urdf(xacro_path, parameters=None):
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"""Convert the given xacro file to URDF file.
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* xacro_path -- the path to the xacro file
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* parameters -- to be used when xacro file is parsed.
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"""
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urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
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# open and process file
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doc = xacro.process_file(xacro_path, mappings=parameters)
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# open the output file
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out = xacro.open_output(urdf_path)
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out.write(doc.toprettyxml(indent=' '))
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return urdf_path
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def set_configurable_parameters(local_params):
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return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
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def generate_launch_description():
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params = rs_launch.configurable_parameters
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xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d405_camera.urdf.xacro')
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urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
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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(params) +
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[
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OpaqueFunction(function=rs_launch.launch_setup,
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kwargs = {'params' : set_configurable_parameters(params)}
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),
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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/urdf_pointcloud.rviz']],
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output='screen',
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parameters=[{'use_sim_time': False}]
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),
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launch_ros.actions.Node(
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name='model_node',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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namespace='',
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output='screen',
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arguments=[urdf]
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)
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])
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@@ -0,0 +1,92 @@
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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 a device and visualize pointcloud along with the camera model D455.
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# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
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# command line example:
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# ros2 launch realsense2_camera rs_d455_pointcloud_launch.py
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"""Launch realsense2_camera node."""
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from launch import LaunchDescription
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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 os
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import sys
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import pathlib
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import xacro
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import tempfile
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from ament_index_python.packages import get_package_share_directory
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sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
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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_name', 'default': 'camera', 'description': 'camera unique name'},
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{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
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{'name': 'device_type', 'default': "d455", 'description': 'choose device by type'},
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{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
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{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
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]
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def to_urdf(xacro_path, parameters=None):
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"""Convert the given xacro file to URDF file.
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* xacro_path -- the path to the xacro file
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* parameters -- to be used when xacro file is parsed.
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"""
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urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
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# open and process file
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doc = xacro.process_file(xacro_path, mappings=parameters)
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# open the output file
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out = xacro.open_output(urdf_path)
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out.write(doc.toprettyxml(indent=' '))
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return urdf_path
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def set_configurable_parameters(local_params):
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return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
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def generate_launch_description():
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params = rs_launch.configurable_parameters
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xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d455_camera.urdf.xacro')
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urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
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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(params) +
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[
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OpaqueFunction(function=rs_launch.launch_setup,
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kwargs = {'params' : set_configurable_parameters(params)}
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),
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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/urdf_pointcloud.rviz']],
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output='screen',
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parameters=[{'use_sim_time': False}]
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),
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launch_ros.actions.Node(
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name='model_node',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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namespace='',
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output='screen',
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arguments=[urdf]
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)
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])
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@@ -0,0 +1,58 @@
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# Copyright 2025 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 a device and align depth to infrared 2.
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# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
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# command line example:
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# ros2 launch realsense2_camera rs_align_depth_to infra_launch.py
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"""Launch realsense2_camera node."""
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from launch import LaunchDescription
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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_name', 'default': 'camera', 'description': 'camera unique name'},
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{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
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{'name': 'enable_color', 'default': 'false', 'description': 'enable color stream'},
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{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'enable_infra2', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'enable_sync', 'default': 'true', 'description': 'enable sync mode'},
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{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
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{'name': 'pointcloud.stream_filter', 'default': '3', 'description': 'pointcloud with infrared'},
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]
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def set_configurable_parameters(local_params):
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return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
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def generate_launch_description():
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params = rs_launch.configurable_parameters
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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(params) +
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[
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OpaqueFunction(function=rs_launch.launch_setup,
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kwargs = {'params' : set_configurable_parameters(params)}
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)
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])
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@@ -0,0 +1,62 @@
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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 a device and visualize pointcloud.
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# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
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# command line example:
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# ros2 launch realsense2_camera rs_pointcloud_launch.py
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"""Launch realsense2_camera node."""
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from launch import LaunchDescription
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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_name', 'default': 'camera', 'description': 'camera unique name'},
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{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
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{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
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{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'},
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]
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def set_configurable_parameters(local_params):
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return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
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def generate_launch_description():
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params = rs_launch.configurable_parameters
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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(params) +
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[
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OpaqueFunction(function=rs_launch.launch_setup,
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kwargs = {'params' : set_configurable_parameters(params)}
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),
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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/pointcloud.rviz']]
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)
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])
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@@ -0,0 +1,189 @@
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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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Splitter Ratio: 0.5
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Tree Height: 382
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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
|
||||
Filter size: 10
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History Policy: Keep Last
|
||||
Reliability Policy: Reliable
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Value: /camera/camera/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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- Class: rviz_default_plugins/Image
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||||
Enabled: true
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||||
Max Value: 1
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||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
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||||
Normalize Range: true
|
||||
Topic:
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Depth: 5
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||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
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||||
Reliability Policy: Reliable
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Value: /camera/camera/color/image_raw
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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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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||||
Topic:
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Depth: 5
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||||
Durability Policy: Volatile
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||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
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||||
Value: /camera/camera/depth/image_rect_raw
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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: camera_depth_optical_frame
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Frame Rate: 30
|
||||
Name: root
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||||
Tools:
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||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
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||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
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||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
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||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /move_base_simple/goal
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 1.0510121583938599
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.18814913928508759
|
||||
Y: -0.17941315472126007
|
||||
Z: 0.14549313485622406
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: -1.5697963237762451
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz_default_plugins)
|
||||
Yaw: 4.730405330657959
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1016
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000010fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bb000000c900fffffffb0000000a0049006d006100670065010000010c0000001c0000000000000000fb0000000a0049006d006100670065010000012e0000001f0000000000000000fb0000000a0049006d00610067006501000001530000001c0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000175000000190000000000000000fb0000000a0049006d00610067006501000001fe000000cd0000002800fffffffb0000000a0049006d00610067006501000002d10000010a0000002800fffffffb0000000a0049006d0061006700650000000233000000b70000000000000000fb0000000a0049006d00610067006501000002b2000001290000000000000000000000010000010f000001effc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000001ef000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073d000000a9fc0100000002fb0000000a0049006d00610067006503000001c5000000bb000001f8000001b0fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005da0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1846
|
||||
X: 74
|
||||
Y: 27
|
||||
@@ -0,0 +1,363 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /RobotModel1/Description Topic1
|
||||
- /TF1/Frames1
|
||||
- /PointCloud21
|
||||
- /Image1
|
||||
- /Image2
|
||||
Splitter Ratio: 0.36195287108421326
|
||||
Tree Height: 308
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /robot_description
|
||||
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
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_accel_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_accel_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_bottom_screw_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_color_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_color_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_depth_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_depth_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_gyro_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_gyro_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_imu_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra1_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra1_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra2_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_infra2_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_usb_plug_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
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base_link:
|
||||
Value: true
|
||||
camera_accel_frame:
|
||||
Value: true
|
||||
camera_accel_optical_frame:
|
||||
Value: true
|
||||
camera_bottom_screw_frame:
|
||||
Value: true
|
||||
camera_color_frame:
|
||||
Value: true
|
||||
camera_color_optical_frame:
|
||||
Value: true
|
||||
camera_depth_frame:
|
||||
Value: true
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
camera_gyro_frame:
|
||||
Value: true
|
||||
camera_gyro_optical_frame:
|
||||
Value: true
|
||||
camera_imu_optical_frame:
|
||||
Value: true
|
||||
camera_infra1_frame:
|
||||
Value: true
|
||||
camera_infra1_optical_frame:
|
||||
Value: true
|
||||
camera_infra2_frame:
|
||||
Value: true
|
||||
camera_infra2_optical_frame:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
camera_usb_plug_link:
|
||||
Value: true
|
||||
Marker Scale: 0.10000000149011612
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Tree:
|
||||
base_link:
|
||||
camera_bottom_screw_frame:
|
||||
camera_link:
|
||||
camera_accel_frame:
|
||||
camera_accel_optical_frame:
|
||||
{}
|
||||
camera_color_frame:
|
||||
camera_color_optical_frame:
|
||||
{}
|
||||
camera_depth_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
camera_gyro_frame:
|
||||
camera_gyro_optical_frame:
|
||||
camera_imu_optical_frame:
|
||||
{}
|
||||
camera_infra1_frame:
|
||||
camera_infra1_optical_frame:
|
||||
{}
|
||||
camera_infra2_frame:
|
||||
camera_infra2_optical_frame:
|
||||
{}
|
||||
camera_usb_plug_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
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_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
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: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera/camera/depth/color/points
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera/camera/color/image_raw
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera/camera/depth/image_rect_raw
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 4.639365196228027
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.0008243769989348948
|
||||
Y: -0.00015415334200952202
|
||||
Z: 0.0003343875869177282
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 1.2247962951660156
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.343583583831787
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1016
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000002540000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000132000000b00000000000000000fb0000000a0049006d00610067006501000001e8000000ed0000000000000000fb0000000a0049006d0061006700650100000202000000e90000002800fffffffb0000000a0049006d00610067006501000002f1000000ea0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003c70000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1846
|
||||
X: 74
|
||||
Y: 27
|
||||
Reference in New Issue
Block a user