mirror of
https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin.git
synced 2026-01-11 19:10:02 +08:00
1134 lines
35 KiB
HTML
1134 lines
35 KiB
HTML
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|
||
.markdown-body kbd {
|
||
background-color: #e7e7e7;
|
||
background-image: -moz-linear-gradient(#fefefe, #e7e7e7);
|
||
background-image: -webkit-linear-gradient(#fefefe, #e7e7e7);
|
||
background-image: linear-gradient(#fefefe, #e7e7e7);
|
||
background-repeat: repeat-x;
|
||
border-radius: 2px;
|
||
border: 1px solid #cfcfcf;
|
||
color: #000;
|
||
padding: 3px 5px;
|
||
line-height: 10px;
|
||
font: 11px Consolas, "Liberation Mono", Menlo, Courier, monospace;
|
||
display: inline-block;
|
||
}
|
||
|
||
.markdown-body>*:first-child {
|
||
margin-top: 0 !important;
|
||
}
|
||
|
||
.markdown-body>*:last-child {
|
||
margin-bottom: 0 !important;
|
||
}
|
||
|
||
.markdown-body .headerlink {
|
||
font: normal 400 16px fontawesome-mini;
|
||
vertical-align: middle;
|
||
margin-left: -16px;
|
||
float: left;
|
||
display: inline-block;
|
||
text-decoration: none;
|
||
opacity: 0;
|
||
color: #333;
|
||
}
|
||
|
||
.markdown-body .headerlink:focus {
|
||
outline: none;
|
||
}
|
||
|
||
.markdown-body h1 .headerlink {
|
||
margin-top: 0.8rem;
|
||
}
|
||
|
||
.markdown-body h2 .headerlink,
|
||
.markdown-body h3 .headerlink {
|
||
margin-top: 0.6rem;
|
||
}
|
||
|
||
.markdown-body h4 .headerlink {
|
||
margin-top: 0.2rem;
|
||
}
|
||
|
||
.markdown-body h5 .headerlink,
|
||
.markdown-body h6 .headerlink {
|
||
margin-top: 0;
|
||
}
|
||
|
||
.markdown-body .headerlink:hover,
|
||
.markdown-body h1:hover .headerlink,
|
||
.markdown-body h2:hover .headerlink,
|
||
.markdown-body h3:hover .headerlink,
|
||
.markdown-body h4:hover .headerlink,
|
||
.markdown-body h5:hover .headerlink,
|
||
.markdown-body h6:hover .headerlink {
|
||
opacity: 1;
|
||
text-decoration: none;
|
||
}
|
||
|
||
.markdown-body h1 {
|
||
padding-bottom: 0.3em;
|
||
font-size: 2.25em;
|
||
line-height: 1.2;
|
||
border-bottom: 1px solid #eee;
|
||
}
|
||
|
||
.markdown-body h2 {
|
||
padding-bottom: 0.3em;
|
||
font-size: 1.75em;
|
||
line-height: 1.225;
|
||
border-bottom: 1px solid #eee;
|
||
}
|
||
|
||
.markdown-body h3 {
|
||
font-size: 1.5em;
|
||
line-height: 1.43;
|
||
}
|
||
|
||
.markdown-body h4 {
|
||
font-size: 1.25em;
|
||
}
|
||
|
||
.markdown-body h5 {
|
||
font-size: 1em;
|
||
}
|
||
|
||
.markdown-body h6 {
|
||
font-size: 1em;
|
||
color: #777;
|
||
}
|
||
|
||
.markdown-body p,
|
||
.markdown-body blockquote,
|
||
.markdown-body ul,
|
||
.markdown-body ol,
|
||
.markdown-body dl,
|
||
.markdown-body table,
|
||
.markdown-body pre,
|
||
.markdown-body .admonition {
|
||
margin-top: 0;
|
||
margin-bottom: 16px;
|
||
}
|
||
|
||
.markdown-body hr {
|
||
height: 4px;
|
||
padding: 0;
|
||
margin: 16px 0;
|
||
background-color: #e7e7e7;
|
||
border: 0 none;
|
||
}
|
||
|
||
.markdown-body ul,
|
||
.markdown-body ol {
|
||
padding-left: 2em;
|
||
}
|
||
|
||
.markdown-body ul ul,
|
||
.markdown-body ul ol,
|
||
.markdown-body ol ol,
|
||
.markdown-body ol ul {
|
||
margin-top: 0;
|
||
margin-bottom: 0;
|
||
}
|
||
|
||
.markdown-body li>p {
|
||
margin-top: 16px;
|
||
}
|
||
|
||
.markdown-body dl {
|
||
padding: 0;
|
||
}
|
||
|
||
.markdown-body dl dt {
|
||
padding: 0;
|
||
margin-top: 16px;
|
||
font-size: 1em;
|
||
font-style: italic;
|
||
font-weight: bold;
|
||
}
|
||
|
||
.markdown-body dl dd {
|
||
padding: 0 16px;
|
||
margin-bottom: 16px;
|
||
}
|
||
|
||
.markdown-body blockquote {
|
||
padding: 0 15px;
|
||
color: #777;
|
||
border-left: 4px solid #ddd;
|
||
}
|
||
|
||
.markdown-body blockquote>:first-child {
|
||
margin-top: 0;
|
||
}
|
||
|
||
.markdown-body blockquote>:last-child {
|
||
margin-bottom: 0;
|
||
}
|
||
|
||
.markdown-body table {
|
||
display: block;
|
||
width: 100%;
|
||
overflow: auto;
|
||
word-break: normal;
|
||
word-break: keep-all;
|
||
}
|
||
|
||
.markdown-body table th {
|
||
font-weight: bold;
|
||
}
|
||
|
||
.markdown-body table th,
|
||
.markdown-body table td {
|
||
padding: 6px 13px;
|
||
border: 1px solid #ddd;
|
||
}
|
||
|
||
.markdown-body table tr {
|
||
background-color: #fff;
|
||
border-top: 1px solid #ccc;
|
||
}
|
||
|
||
.markdown-body table tr:nth-child(2n) {
|
||
background-color: #f8f8f8;
|
||
}
|
||
|
||
.markdown-body img {
|
||
max-width: 100%;
|
||
-moz-box-sizing: border-box;
|
||
box-sizing: border-box;
|
||
}
|
||
|
||
.markdown-body code,
|
||
.markdown-body samp {
|
||
padding: 0;
|
||
padding-top: 0.2em;
|
||
padding-bottom: 0.2em;
|
||
margin: 0;
|
||
font-size: 85%;
|
||
background-color: rgba(0,0,0,0.04);
|
||
border-radius: 3px;
|
||
}
|
||
|
||
.markdown-body code:before,
|
||
.markdown-body code:after {
|
||
letter-spacing: -0.2em;
|
||
content: "\00a0";
|
||
}
|
||
|
||
.markdown-body pre>code {
|
||
padding: 0;
|
||
margin: 0;
|
||
font-size: 100%;
|
||
word-break: normal;
|
||
white-space: pre;
|
||
background: transparent;
|
||
border: 0;
|
||
}
|
||
|
||
.markdown-body .codehilite {
|
||
margin-bottom: 16px;
|
||
}
|
||
|
||
.markdown-body .codehilite pre,
|
||
.markdown-body pre {
|
||
padding: 16px;
|
||
overflow: auto;
|
||
font-size: 85%;
|
||
line-height: 1.45;
|
||
background-color: #f7f7f7;
|
||
border-radius: 3px;
|
||
}
|
||
|
||
.markdown-body .codehilite pre {
|
||
margin-bottom: 0;
|
||
word-break: normal;
|
||
}
|
||
|
||
.markdown-body pre {
|
||
word-wrap: normal;
|
||
}
|
||
|
||
.markdown-body pre code {
|
||
display: inline;
|
||
max-width: initial;
|
||
padding: 0;
|
||
margin: 0;
|
||
overflow: initial;
|
||
line-height: inherit;
|
||
word-wrap: normal;
|
||
background-color: transparent;
|
||
border: 0;
|
||
}
|
||
|
||
.markdown-body pre code:before,
|
||
.markdown-body pre code:after {
|
||
content: normal;
|
||
}
|
||
|
||
/* Admonition */
|
||
.markdown-body .admonition {
|
||
-webkit-border-radius: 3px;
|
||
-moz-border-radius: 3px;
|
||
position: relative;
|
||
border-radius: 3px;
|
||
border: 1px solid #e0e0e0;
|
||
border-left: 6px solid #333;
|
||
padding: 10px 10px 10px 30px;
|
||
}
|
||
|
||
.markdown-body .admonition table {
|
||
color: #333;
|
||
}
|
||
|
||
.markdown-body .admonition p {
|
||
padding: 0;
|
||
}
|
||
|
||
.markdown-body .admonition-title {
|
||
font-weight: bold;
|
||
margin: 0;
|
||
}
|
||
|
||
.markdown-body .admonition>.admonition-title {
|
||
color: #333;
|
||
}
|
||
|
||
.markdown-body .attention>.admonition-title {
|
||
color: #a6d796;
|
||
}
|
||
|
||
.markdown-body .caution>.admonition-title {
|
||
color: #d7a796;
|
||
}
|
||
|
||
.markdown-body .hint>.admonition-title {
|
||
color: #96c6d7;
|
||
}
|
||
|
||
.markdown-body .danger>.admonition-title {
|
||
color: #c25f77;
|
||
}
|
||
|
||
.markdown-body .question>.admonition-title {
|
||
color: #96a6d7;
|
||
}
|
||
|
||
.markdown-body .note>.admonition-title {
|
||
color: #d7c896;
|
||
}
|
||
|
||
.markdown-body .admonition:before,
|
||
.markdown-body .attention:before,
|
||
.markdown-body .caution:before,
|
||
.markdown-body .hint:before,
|
||
.markdown-body .danger:before,
|
||
.markdown-body .question:before,
|
||
.markdown-body .note:before {
|
||
font: normal normal 16px fontawesome-mini;
|
||
-moz-osx-font-smoothing: grayscale;
|
||
-webkit-user-select: none;
|
||
-moz-user-select: none;
|
||
-ms-user-select: none;
|
||
user-select: none;
|
||
line-height: 1.5;
|
||
color: #333;
|
||
position: absolute;
|
||
left: 0;
|
||
top: 0;
|
||
padding-top: 10px;
|
||
padding-left: 10px;
|
||
}
|
||
|
||
.markdown-body .admonition:before {
|
||
content: "\f056\00a0";
|
||
color: 333;
|
||
}
|
||
|
||
.markdown-body .attention:before {
|
||
content: "\f058\00a0";
|
||
color: #a6d796;
|
||
}
|
||
|
||
.markdown-body .caution:before {
|
||
content: "\f06a\00a0";
|
||
color: #d7a796;
|
||
}
|
||
|
||
.markdown-body .hint:before {
|
||
content: "\f05a\00a0";
|
||
color: #96c6d7;
|
||
}
|
||
|
||
.markdown-body .danger:before {
|
||
content: "\f057\00a0";
|
||
color: #c25f77;
|
||
}
|
||
|
||
.markdown-body .question:before {
|
||
content: "\f059\00a0";
|
||
color: #96a6d7;
|
||
}
|
||
|
||
.markdown-body .note:before {
|
||
content: "\f040\00a0";
|
||
color: #d7c896;
|
||
}
|
||
|
||
.markdown-body .admonition::after {
|
||
content: normal;
|
||
}
|
||
|
||
.markdown-body .attention {
|
||
border-left: 6px solid #a6d796;
|
||
}
|
||
|
||
.markdown-body .caution {
|
||
border-left: 6px solid #d7a796;
|
||
}
|
||
|
||
.markdown-body .hint {
|
||
border-left: 6px solid #96c6d7;
|
||
}
|
||
|
||
.markdown-body .danger {
|
||
border-left: 6px solid #c25f77;
|
||
}
|
||
|
||
.markdown-body .question {
|
||
border-left: 6px solid #96a6d7;
|
||
}
|
||
|
||
.markdown-body .note {
|
||
border-left: 6px solid #d7c896;
|
||
}
|
||
|
||
.markdown-body .admonition>*:first-child {
|
||
margin-top: 0 !important;
|
||
}
|
||
|
||
.markdown-body .admonition>*:last-child {
|
||
margin-bottom: 0 !important;
|
||
}
|
||
|
||
/* progress bar*/
|
||
.markdown-body .progress {
|
||
display: block;
|
||
width: 300px;
|
||
margin: 10px 0;
|
||
height: 24px;
|
||
-webkit-border-radius: 3px;
|
||
-moz-border-radius: 3px;
|
||
border-radius: 3px;
|
||
background-color: #ededed;
|
||
position: relative;
|
||
box-shadow: inset -1px 1px 3px rgba(0, 0, 0, .1);
|
||
}
|
||
|
||
.markdown-body .progress-label {
|
||
position: absolute;
|
||
text-align: center;
|
||
font-weight: bold;
|
||
width: 100%; margin: 0;
|
||
line-height: 24px;
|
||
color: #333;
|
||
text-shadow: 1px 1px 0 #fefefe, -1px -1px 0 #fefefe, -1px 1px 0 #fefefe, 1px -1px 0 #fefefe, 0 1px 0 #fefefe, 0 -1px 0 #fefefe, 1px 0 0 #fefefe, -1px 0 0 #fefefe, 1px 1px 2px #000;
|
||
-webkit-font-smoothing: antialiased !important;
|
||
white-space: nowrap;
|
||
overflow: hidden;
|
||
}
|
||
|
||
.markdown-body .progress-bar {
|
||
height: 24px;
|
||
float: left;
|
||
-webkit-border-radius: 3px;
|
||
-moz-border-radius: 3px;
|
||
border-radius: 3px;
|
||
background-color: #96c6d7;
|
||
box-shadow: inset 0 1px 0 rgba(255, 255, 255, .5), inset 0 -1px 0 rgba(0, 0, 0, .1);
|
||
background-size: 30px 30px;
|
||
background-image: -webkit-linear-gradient(
|
||
135deg, rgba(255, 255, 255, .4) 27%,
|
||
transparent 27%,
|
||
transparent 52%, rgba(255, 255, 255, .4) 52%,
|
||
rgba(255, 255, 255, .4) 77%,
|
||
transparent 77%, transparent
|
||
);
|
||
background-image: -moz-linear-gradient(
|
||
135deg,
|
||
rgba(255, 255, 255, .4) 27%, transparent 27%,
|
||
transparent 52%, rgba(255, 255, 255, .4) 52%,
|
||
rgba(255, 255, 255, .4) 77%, transparent 77%,
|
||
transparent
|
||
);
|
||
background-image: -ms-linear-gradient(
|
||
135deg,
|
||
rgba(255, 255, 255, .4) 27%, transparent 27%,
|
||
transparent 52%, rgba(255, 255, 255, .4) 52%,
|
||
rgba(255, 255, 255, .4) 77%, transparent 77%,
|
||
transparent
|
||
);
|
||
background-image: -o-linear-gradient(
|
||
135deg,
|
||
rgba(255, 255, 255, .4) 27%, transparent 27%,
|
||
transparent 52%, rgba(255, 255, 255, .4) 52%,
|
||
rgba(255, 255, 255, .4) 77%, transparent 77%,
|
||
transparent
|
||
);
|
||
background-image: linear-gradient(
|
||
135deg,
|
||
rgba(255, 255, 255, .4) 27%, transparent 27%,
|
||
transparent 52%, rgba(255, 255, 255, .4) 52%,
|
||
rgba(255, 255, 255, .4) 77%, transparent 77%,
|
||
transparent
|
||
);
|
||
}
|
||
|
||
.markdown-body .progress-100plus .progress-bar {
|
||
background-color: #a6d796;
|
||
}
|
||
|
||
.markdown-body .progress-80plus .progress-bar {
|
||
background-color: #c6d796;
|
||
}
|
||
|
||
.markdown-body .progress-60plus .progress-bar {
|
||
background-color: #d7c896;
|
||
}
|
||
|
||
.markdown-body .progress-40plus .progress-bar {
|
||
background-color: #d7a796;
|
||
}
|
||
|
||
.markdown-body .progress-20plus .progress-bar {
|
||
background-color: #d796a6;
|
||
}
|
||
|
||
.markdown-body .progress-0plus .progress-bar {
|
||
background-color: #c25f77;
|
||
}
|
||
|
||
.markdown-body .candystripe-animate .progress-bar{
|
||
-webkit-animation: animate-stripes 3s linear infinite;
|
||
-moz-animation: animate-stripes 3s linear infinite;
|
||
animation: animate-stripes 3s linear infinite;
|
||
}
|
||
|
||
@-webkit-keyframes animate-stripes {
|
||
0% {
|
||
background-position: 0 0;
|
||
}
|
||
|
||
100% {
|
||
background-position: 60px 0;
|
||
}
|
||
}
|
||
|
||
@-moz-keyframes animate-stripes {
|
||
0% {
|
||
background-position: 0 0;
|
||
}
|
||
|
||
100% {
|
||
background-position: 60px 0;
|
||
}
|
||
}
|
||
|
||
@keyframes animate-stripes {
|
||
0% {
|
||
background-position: 0 0;
|
||
}
|
||
|
||
100% {
|
||
background-position: 60px 0;
|
||
}
|
||
}
|
||
|
||
.markdown-body .gloss .progress-bar {
|
||
box-shadow:
|
||
inset 0 4px 12px rgba(255, 255, 255, .7),
|
||
inset 0 -12px 0 rgba(0, 0, 0, .05);
|
||
}
|
||
|
||
/* MultiMarkdown Critic Blocks */
|
||
.markdown-body .critic_mark {
|
||
background: #ff0;
|
||
}
|
||
|
||
.markdown-body .critic_delete {
|
||
color: #c82829;
|
||
text-decoration: line-through;
|
||
}
|
||
|
||
.markdown-body .critic_insert {
|
||
color: #718c00 ;
|
||
text-decoration: underline;
|
||
}
|
||
|
||
.markdown-body .critic_comment {
|
||
color: #8e908c;
|
||
font-style: italic;
|
||
}
|
||
|
||
.markdown-body .headeranchor {
|
||
font: normal normal 16px fontawesome-mini;
|
||
line-height: 1;
|
||
display: inline-block;
|
||
text-decoration: none;
|
||
-webkit-font-smoothing: antialiased;
|
||
-moz-osx-font-smoothing: grayscale;
|
||
-webkit-user-select: none;
|
||
-moz-user-select: none;
|
||
-ms-user-select: none;
|
||
user-select: none;
|
||
}
|
||
|
||
.headeranchor:before {
|
||
content: '\e157';
|
||
}
|
||
|
||
.markdown-body .task-list-item {
|
||
list-style-type: none;
|
||
}
|
||
|
||
.markdown-body .task-list-item+.task-list-item {
|
||
margin-top: 3px;
|
||
}
|
||
|
||
.markdown-body .task-list-item input {
|
||
margin: 0 4px 0.25em -20px;
|
||
vertical-align: middle;
|
||
}
|
||
|
||
/* Media */
|
||
@media only screen and (min-width: 480px) {
|
||
.markdown-body {
|
||
font-size:14px;
|
||
}
|
||
}
|
||
|
||
@media only screen and (min-width: 768px) {
|
||
.markdown-body {
|
||
font-size:16px;
|
||
}
|
||
}
|
||
|
||
@media print {
|
||
.markdown-body * {
|
||
background: transparent !important;
|
||
color: black !important;
|
||
filter:none !important;
|
||
-ms-filter: none !important;
|
||
}
|
||
|
||
.markdown-body {
|
||
font-size:12pt;
|
||
max-width:100%;
|
||
outline:none;
|
||
border: 0;
|
||
}
|
||
|
||
.markdown-body a,
|
||
.markdown-body a:visited {
|
||
text-decoration: underline;
|
||
}
|
||
|
||
.markdown-body .headeranchor-link {
|
||
display: none;
|
||
}
|
||
|
||
.markdown-body a[href]:after {
|
||
content: " (" attr(href) ")";
|
||
}
|
||
|
||
.markdown-body abbr[title]:after {
|
||
content: " (" attr(title) ")";
|
||
}
|
||
|
||
.markdown-body .ir a:after,
|
||
.markdown-body a[href^="javascript:"]:after,
|
||
.markdown-body a[href^="#"]:after {
|
||
content: "";
|
||
}
|
||
|
||
.markdown-body pre {
|
||
white-space: pre;
|
||
white-space: pre-wrap;
|
||
word-wrap: break-word;
|
||
}
|
||
|
||
.markdown-body pre,
|
||
.markdown-body blockquote {
|
||
border: 1px solid #999;
|
||
padding-right: 1em;
|
||
page-break-inside: avoid;
|
||
}
|
||
|
||
.markdown-body .progress,
|
||
.markdown-body .progress-bar {
|
||
-moz-box-shadow: none;
|
||
-webkit-box-shadow: none;
|
||
box-shadow: none;
|
||
}
|
||
|
||
.markdown-body .progress {
|
||
border: 1px solid #ddd;
|
||
}
|
||
|
||
.markdown-body .progress-bar {
|
||
height: 22px;
|
||
border-right: 1px solid #ddd;
|
||
}
|
||
|
||
.markdown-body tr,
|
||
.markdown-body img {
|
||
page-break-inside: avoid;
|
||
}
|
||
|
||
.markdown-body img {
|
||
max-width: 100% !important;
|
||
}
|
||
|
||
.markdown-body p,
|
||
.markdown-body h2,
|
||
.markdown-body h3 {
|
||
orphans: 3;
|
||
widows: 3;
|
||
}
|
||
|
||
.markdown-body h2,
|
||
.markdown-body h3 {
|
||
page-break-after: avoid;
|
||
}
|
||
}
|
||
</style><style>/*GitHub*/
|
||
.codehilite {background-color:#fff;color:#333333;}
|
||
.codehilite .hll {background-color:#ffffcc;}
|
||
.codehilite .c{color:#999988;font-style:italic}
|
||
.codehilite .err{color:#a61717;background-color:#e3d2d2}
|
||
.codehilite .k{font-weight:bold}
|
||
.codehilite .o{font-weight:bold}
|
||
.codehilite .cm{color:#999988;font-style:italic}
|
||
.codehilite .cp{color:#999999;font-weight:bold}
|
||
.codehilite .c1{color:#999988;font-style:italic}
|
||
.codehilite .cs{color:#999999;font-weight:bold;font-style:italic}
|
||
.codehilite .gd{color:#000000;background-color:#ffdddd}
|
||
.codehilite .ge{font-style:italic}
|
||
.codehilite .gr{color:#aa0000}
|
||
.codehilite .gh{color:#999999}
|
||
.codehilite .gi{color:#000000;background-color:#ddffdd}
|
||
.codehilite .go{color:#888888}
|
||
.codehilite .gp{color:#555555}
|
||
.codehilite .gs{font-weight:bold}
|
||
.codehilite .gu{color:#800080;font-weight:bold}
|
||
.codehilite .gt{color:#aa0000}
|
||
.codehilite .kc{font-weight:bold}
|
||
.codehilite .kd{font-weight:bold}
|
||
.codehilite .kn{font-weight:bold}
|
||
.codehilite .kp{font-weight:bold}
|
||
.codehilite .kr{font-weight:bold}
|
||
.codehilite .kt{color:#445588;font-weight:bold}
|
||
.codehilite .m{color:#009999}
|
||
.codehilite .s{color:#dd1144}
|
||
.codehilite .n{color:#333333}
|
||
.codehilite .na{color:teal}
|
||
.codehilite .nb{color:#0086b3}
|
||
.codehilite .nc{color:#445588;font-weight:bold}
|
||
.codehilite .no{color:teal}
|
||
.codehilite .ni{color:purple}
|
||
.codehilite .ne{color:#990000;font-weight:bold}
|
||
.codehilite .nf{color:#990000;font-weight:bold}
|
||
.codehilite .nn{color:#555555}
|
||
.codehilite .nt{color:navy}
|
||
.codehilite .nv{color:teal}
|
||
.codehilite .ow{font-weight:bold}
|
||
.codehilite .w{color:#bbbbbb}
|
||
.codehilite .mf{color:#009999}
|
||
.codehilite .mh{color:#009999}
|
||
.codehilite .mi{color:#009999}
|
||
.codehilite .mo{color:#009999}
|
||
.codehilite .sb{color:#dd1144}
|
||
.codehilite .sc{color:#dd1144}
|
||
.codehilite .sd{color:#dd1144}
|
||
.codehilite .s2{color:#dd1144}
|
||
.codehilite .se{color:#dd1144}
|
||
.codehilite .sh{color:#dd1144}
|
||
.codehilite .si{color:#dd1144}
|
||
.codehilite .sx{color:#dd1144}
|
||
.codehilite .sr{color:#009926}
|
||
.codehilite .s1{color:#dd1144}
|
||
.codehilite .ss{color:#990073}
|
||
.codehilite .bp{color:#999999}
|
||
.codehilite .vc{color:teal}
|
||
.codehilite .vg{color:teal}
|
||
.codehilite .vi{color:teal}
|
||
.codehilite .il{color:#009999}
|
||
.codehilite .gc{color:#999;background-color:#EAF2F5}
|
||
</style><title>README</title></head><body><article class="markdown-body"><h1 id="slam">SLAM 多点导航功能包<a class="headerlink" href="#slam" title="Permanent link"></a></h1>
|
||
<h2 id="navi_multi_goals_pub_rviz_plugin">navi_multi_goals_pub_rviz_plugin<a class="headerlink" href="#navi_multi_goals_pub_rviz_plugin" title="Permanent link"></a></h2>
|
||
<h3 id="_1">描述：<a class="headerlink" href="#_1" title="Permanent link"></a></h3>
|
||
<p>该功能包为SLAM 建图导航提供可发布多个目标点任务的导航方式。</p>
|
||
<h3 id="_2">要求:<a class="headerlink" href="#_2" title="Permanent link"></a></h3>
|
||
<p>必须基于 Autolabor SLAM导航使用</p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro.png" /></p>
|
||
<h3 id="_3">一、安装与配置<a class="headerlink" href="#_3" title="Permanent link"></a></h3>
|
||
<h4 id="1">1. 下载程序包<a class="headerlink" href="#1" title="Permanent link"></a></h4>
|
||
<p>进入 /home/autolabor/catkin_ws/src 目录，执行</p>
|
||
<div class="codehilite"><pre>git clone https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin.git
|
||
</pre></div>
|
||
|
||
<p>或访问 <a href="https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin.git">https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin.git</a> 下载源代码，放入 /home/autolabor/catkin_ws/src 目录中</p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/download-file.png" /></p>
|
||
<h4 id="2">2. 编译<a class="headerlink" href="#2" title="Permanent link"></a></h4>
|
||
<p>工作空间首次编译，请进入到 /home/autolabor/catkin_ws/script/common/，执行 <code>./rebuild</code> 编译脚本。</p>
|
||
<p>如已执行过 rebuild 脚本，进入到/home/autolabor/catkin_ws/，根目录下执行 <code>catkin build</code> 即可。</p>
|
||
<h4 id="3">3. 编译完成后，启动【开始导航】<a class="headerlink" href="#3" title="Permanent link"></a></h4>
|
||
<p><strong>注：要求提前建好地图。</strong></p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro1.png" /></p>
|
||
<h4 id="4">4. 加载插件<a class="headerlink" href="#4" title="Permanent link"></a></h4>
|
||
<p>RViz 的左上角依次点击 Panels -> Add New Panel -> navi_multi_goals_pub_rviz_plugin -> MultiNaviGoalsPanel </p>
|
||
<p><img style="float: left;" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro2.png" />
|
||
<img style="float: right;" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro3.png" />
|
||
<div style="clear: both;"></div></p>
|
||
<hr />
|
||
<p><strong>加载完毕：</strong></p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro4.png" /></p>
|
||
<h4 id="5">5. 修改配置<a class="headerlink" href="#5" title="Permanent link"></a></h4>
|
||
<h5 id="1-marker">1) 新增 marker （目标点标记）<a class="headerlink" href="#1-marker" title="Permanent link"></a></h5>
|
||
<p>RViz 左侧 Display -> add -> Marker</p>
|
||
<p><img style="float: left;" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro5.png" />
|
||
<img style="float: right;" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro6.png" />
|
||
<div style="clear: both;"></div></p>
|
||
<hr />
|
||
<h5 id="2-2d-nav-goal">2) 修改 2D Nav Goal 按钮话题<a class="headerlink" href="#2-2d-nav-goal" title="Permanent link"></a></h5>
|
||
<p>RViz 的左上角 Panels->Add New Panel-> Tool Property</p>
|
||
<p>将 2D Nav Goal -> Topic 修改为 /move_base_simple/goal_temp </p>
|
||
<p><img style="float: left;" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro7.png" />
|
||
<img style="float: right;" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro8.png" />
|
||
<div style="clear: both;"></div></p>
|
||
<p><img src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro9.png" /></p>
|
||
<hr />
|
||
<p><strong>做完以上操作后 Ctrl + S 保存 RViz 配置，如忘记保存，则下次进来要重复操作。</strong></p>
|
||
<h3 id="_4">二、使用<a class="headerlink" href="#_4" title="Permanent link"></a></h3>
|
||
<h3 id="_5">操作区说明<a class="headerlink" href="#_5" title="Permanent link"></a></h3>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro10.png" /></p>
|
||
<p>① 可设置目标点的最大数量：要求所设置目标点个数不能大于该参数（可以小于）</p>
|
||
<p>② 是否循环：若勾选，导航至最后一个目标点后，将重新导航至第一个目标点。例：1->2->3->1->2->3->···，该选项必须在开始导航前勾选</p>
|
||
<p>③ 任务目标点列表： x/y/yaw，地图上给定目标点的位姿（xy坐标与航向角yaw)。</p>
|
||
<ul>
|
||
<li>设置完目标最大数量，保存后，该列表会生成对应数量的条目</li>
|
||
<li>每给出一个目标点，此处会读取到目标点的坐标与朝向</li>
|
||
</ul>
|
||
<p>④ 重置：将清空当前所有目标点</p>
|
||
<p>⑤ 取消：取消当前目标点导航任务，机器人停止运动。再次点击开始导航后，会从下一个任务点开始。</p>
|
||
<p>例：1->2->3，在1->2的过程中点击取消，机器人停止运动，点击开始导航后，机器人将从当前坐标点去往3。</p>
|
||
<p>⑥ 开始导航：开始任务</p>
|
||
<h3 id="_6">操作步骤说明<a class="headerlink" href="#_6" title="Permanent link"></a></h3>
|
||
<h4 id="1_1">1. 初始化机器人位置<a class="headerlink" href="#1_1" title="Permanent link"></a></h4>
|
||
<p>点击开始导航，打开 rviz，使用键盘控制机器人运动，当环境特征与地图匹配完成后，机器人会定位到地图中对应的位置。</p>
|
||
<h4 id="2_1">2. 设置任务<a class="headerlink" href="#2_1" title="Permanent link"></a></h4>
|
||
<h5 id="1_2">1) 设置任务目标点个数，点击确认保存<a class="headerlink" href="#1_2" title="Permanent link"></a></h5>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro16.png" /></p>
|
||
<h5 id="2_2">2) 设置目标点<a class="headerlink" href="#2_2" title="Permanent link"></a></h5>
|
||
<p>点击ToolBar上的2D Nav Goal，在地图上给定目标点。（每次设置都需要先点击2D Nav Goal）</p>
|
||
<p>目标点有朝向区分，箭头顶端为车头方向。</p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro11.png" /></p>
|
||
<h5 id="3_1">3) 点击开始导航，导航开始<a class="headerlink" href="#3_1" title="Permanent link"></a></h5>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro12.png" /></p>
|
||
<p>已完成任务会变为红色（如下图）</p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro13.png" /></p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro14.png" /></p>
|
||
<p>未勾选循环，单次任务完成后停止。</p>
|
||
<p>勾选循环，单次任务完成后，会从最后一个目标点到第一个目标点，显示颜色为蓝色。</p>
|
||
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/intro15.png" /></p></article></body></html> |