mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
added scout_description back
This commit is contained in:
Tan Pin Da
480
samples/Simulation/ScoutV2.proto
Normal file
480
samples/Simulation/ScoutV2.proto
Normal file
File diff suppressed because one or more lines are too long
6
samples/Simulation/scout_v2.proto
Normal file
6
samples/Simulation/scout_v2.proto
Normal file
@@ -0,0 +1,6 @@
|
||||
#VRML_SIM R2019a utf8
|
||||
# license: Apache License 2.0
|
||||
# license url: http://www.apache.org/licenses/LICENSE-2.0
|
||||
# This is a proto file for Webots for the ScoutV2
|
||||
# Extracted from: ./scout_v2.urdf
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
-->
|
||||
<arg name="port_name" default="can0" />
|
||||
<arg name="simulated_robot" default="false" />
|
||||
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
|
||||
|
||||
<arg name ="odom_topic_name" default = "odom"/>
|
||||
|
||||
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
|
||||
@@ -22,7 +22,5 @@
|
||||
<param name="base_frame" type="string" value="base_link" />
|
||||
<param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
|
||||
</node>
|
||||
<param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
|
||||
</launch>
|
||||
|
||||
@@ -1,12 +1,18 @@
|
||||
<launch>
|
||||
<arg name="port_name" default="can0" />
|
||||
<arg name="simulated_robot" default="false" />
|
||||
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
|
||||
|
||||
<arg name="port_name" value="can0" />
|
||||
<arg name="simulated_robot" value="false" />
|
||||
<arg name = "model_xacro" default = "$(find scout_description)/urdf/scout_v2.xacro" />
|
||||
<arg name ="odom_topic_name" default = "odomsdas"/>
|
||||
|
||||
<include file="$(find scout_base)/launch/scout_base.launch" >
|
||||
<arg name="port_name" default="$(arg port_name)" />
|
||||
<arg name="simulated_robot" default="$(arg simulated_robot)" />
|
||||
<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
|
||||
|
||||
</include>
|
||||
|
||||
<include file="$(find scout_description)/launch/description.launch" >
|
||||
<arg name = "model_xacro" default = "$(arg model_xacro)" />
|
||||
<arg name ="odom_topic_name" default = "$(arg odom_topic_name)"/>
|
||||
</include>
|
||||
</launch>
|
||||
@@ -1,13 +1,18 @@
|
||||
|
||||
<launch>
|
||||
|
||||
<arg name="port_name" value="/dev/ttyUSB0" />
|
||||
<arg name="simulated_robot" value="false" />
|
||||
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
|
||||
<arg name = "model_xacro" default = "$(find scout_description)/urdf/scout_v2.xacro" />
|
||||
<arg name ="odom_topic_name" default = "odomsdas"/>
|
||||
|
||||
<include file="$(find scout_base)/launch/scout_base.launch" >
|
||||
<arg name="port_name" default="$(arg port_name)" />
|
||||
<arg name="simulated_robot" default="$(arg simulated_robot)" />
|
||||
<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
|
||||
|
||||
</include>
|
||||
|
||||
<include file="$(find scout_description)/launch/description.launch" >
|
||||
<arg name = "model_xacro" default = "$(arg model_xacro)" />
|
||||
<arg name ="odom_topic_name" default = "$(arg odom_topic_name)"/>
|
||||
</include>
|
||||
</launch>
|
||||
13
scout_description/CMakeLists.txt
Normal file
13
scout_description/CMakeLists.txt
Normal file
@@ -0,0 +1,13 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(scout_description)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS roslaunch)
|
||||
|
||||
catkin_package()
|
||||
|
||||
# roslaunch_add_file_check(launch)
|
||||
|
||||
install(
|
||||
DIRECTORY launch meshes urdf
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
8
scout_description/launch/description.launch
Normal file
8
scout_description/launch/description.launch
Normal file
@@ -0,0 +1,8 @@
|
||||
<launch>
|
||||
<arg name = "model_xacro" default = "$(find scout_description)/urdf/scout_v2.xacro" />
|
||||
<arg name="model" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
</launch>
|
||||
442
scout_description/meshes/base_link.dae
Normal file
442
scout_description/meshes/base_link.dae
Normal file
File diff suppressed because one or more lines are too long
15
scout_description/meshes/base_link_full.dae
Normal file
15
scout_description/meshes/base_link_full.dae
Normal file
@@ -0,0 +1,15 @@
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor />
|
||||
<created>2020-03-27T18:56:12.965296</created>
|
||||
<modified>2020-03-27T18:56:12.965305</modified>
|
||||
<unit name="meter" meter="1.0" />
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="myscene" />
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#myscene" />
|
||||
</scene>
|
||||
</COLLADA>
|
||||
253
scout_description/meshes/hokuyo.dae
Executable file
253
scout_description/meshes/hokuyo.dae
Executable file
File diff suppressed because one or more lines are too long
274
scout_description/meshes/wheel_type1.dae
Normal file
274
scout_description/meshes/wheel_type1.dae
Normal file
File diff suppressed because one or more lines are too long
274
scout_description/meshes/wheel_type2.dae
Normal file
274
scout_description/meshes/wheel_type2.dae
Normal file
File diff suppressed because one or more lines are too long
30
scout_description/package.xml
Normal file
30
scout_description/package.xml
Normal file
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>scout_description</name>
|
||||
<version>0.4.2</version>
|
||||
<description>AgileX Scout Husky URDF description</description>
|
||||
|
||||
<author email="rgariepy@clearpathrobotics.com">Ryan Gariepy</author>
|
||||
<author email="pmukherj@clearpathrobotics.com">Prasenjit Mukherjee</author>
|
||||
<author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
|
||||
<author email="paul@bovbel.com">Paul Bovbel</author>
|
||||
<author email="dash@clearpathrobotics.com">Devon Ash</author>
|
||||
|
||||
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
|
||||
<maintainer email="tbaltovski@clearpathrobotics.com">Tony Baltovski</maintainer>
|
||||
|
||||
<url type="website">http://ros.org/wiki/scout_description</url>
|
||||
<url type="bugtracker">https://github.com/husky/husky/issues</url>
|
||||
<url type="repository">https://github.com/husky/husky</url>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roslaunch</build_depend>
|
||||
<run_depend>urdf</run_depend>
|
||||
<run_depend>xacro</run_depend>
|
||||
<run_depend>lms1xx</run_depend>
|
||||
|
||||
<export>
|
||||
</export>
|
||||
</package>
|
||||
31
scout_description/urdf/onboard_sensors.urdf
Normal file
31
scout_description/urdf/onboard_sensors.urdf
Normal file
@@ -0,0 +1,31 @@
|
||||
<robot>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<axis xyz="0 1 0" />
|
||||
<child link="hokuyo_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Hokuyo Laser -->
|
||||
<link name="hokuyo_link">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/hokuyo.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<mass value="1e-5" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||
</inertial>
|
||||
</link>
|
||||
</robot>
|
||||
111
scout_description/urdf/scout_v2.gazebo
Normal file
111
scout_description/urdf/scout_v2.gazebo
Normal file
@@ -0,0 +1,111 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
Reference:
|
||||
[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
|
||||
[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
|
||||
[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
|
||||
[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
|
||||
-->
|
||||
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
|
||||
|
||||
<!-- Additional definitions for simulation -->
|
||||
<!-- <gazebo reference="base_link">
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo> -->
|
||||
|
||||
<!-- Actuator configurations -->
|
||||
<xacro:scout_wheel_transmission wheel_prefix="front_right" />
|
||||
<xacro:scout_wheel_transmission wheel_prefix="front_left" />
|
||||
<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
|
||||
<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
|
||||
|
||||
<!-- Controller configurations -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>$(arg robot_namespace)</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo>
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0" />
|
||||
<kd value="1.0" />
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001" />
|
||||
<maxContacts value="64"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- hokuyo -->
|
||||
<gazebo reference="hokuyo_link">
|
||||
<sensor type="ray" name="head_hokuyo_sensor">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>false</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>720</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-1.570796</min_angle>
|
||||
<max_angle>1.570796</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.10</min>
|
||||
<max>30.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise parameters based on published spec for Hokuyo laser
|
||||
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
|
||||
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
|
||||
reading. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>hokuyo_link</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<!-- <gazebo>
|
||||
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
|
||||
<updateRate>100.0</updateRate>
|
||||
<robotNamespace></robotNamespace>
|
||||
<leftFrontJoint>front_left_wheel</leftFrontJoint>
|
||||
<rightFrontJoint>front_right_wheel</rightFrontJoint>
|
||||
<leftRearJoint>rear_left_wheel</leftRearJoint>
|
||||
<rightRearJoint>rear_right_wheel</rightRearJoint>
|
||||
<wheelSeparation>4</wheelSeparation>
|
||||
<wheelDiameter>0.32918</wheelDiameter>
|
||||
<robotBaseFrame>base_link</robotBaseFrame>
|
||||
<torque>1000</torque>
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<broadcastTF>true</broadcastTF>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<covariance_x>0.000100</covariance_x>
|
||||
<covariance_y>0.000100</covariance_y>
|
||||
<covariance_yaw>0.010000</covariance_yaw>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
|
||||
<!-- <gazebo>
|
||||
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometryRate>20.0</odometryRate>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
</robot>
|
||||
137
scout_description/urdf/scout_v2.urdf
Normal file
137
scout_description/urdf/scout_v2.urdf
Normal file
@@ -0,0 +1,137 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="scout_v2">
|
||||
<!-- Base link -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/base_link.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.008"/>
|
||||
<geometry>
|
||||
<box size="0.925 0.38 0.21"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.035"/>
|
||||
<geometry>
|
||||
<box size="0.154166666667 0.627 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="40"/>
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_right_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_right_wheel_link"/>
|
||||
<origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="front_left_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="rear_left_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rear_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="rear_right_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rear_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_right_wheel_link"/>
|
||||
<origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<!-- Additional definitions -->
|
||||
<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
|
||||
<!-- Gazebo definitions -->
|
||||
<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
|
||||
</robot>
|
||||
@@ -6,8 +6,8 @@
|
||||
<xacro:arg name="robot_namespace" default="/" />
|
||||
<xacro:arg name="onboard_sensors" default="false" />
|
||||
|
||||
<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type1.xacro" />
|
||||
<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type2.xacro" />
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
|
||||
|
||||
<!-- Variables -->
|
||||
<xacro:property name="M_PI" value="3.14159"/>
|
||||
42
scout_description/urdf/scout_wheel.gazebo
Normal file
42
scout_description/urdf/scout_wheel.gazebo
Normal file
@@ -0,0 +1,42 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Software License Agreement (BSD)
|
||||
|
||||
\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
|
||||
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
|
||||
Ruixiang Du <ruixiang.du@westonrobot.com>
|
||||
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
|
||||
\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
|
||||
the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
|
||||
following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
|
||||
following disclaimer in the documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
|
||||
products derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
|
||||
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
|
||||
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
|
||||
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
-->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
|
||||
|
||||
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
|
||||
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="${wheel_prefix}_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="${wheel_prefix}_wheel">
|
||||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
202
scout_viz/CMakeLists.txt
Normal file
202
scout_viz/CMakeLists.txt
Normal file
@@ -0,0 +1,202 @@
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(scout_viz)
|
||||
|
||||
## Compile as C++11, supported in ROS Kinetic and newer
|
||||
# add_compile_options(-std=c++11)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
|
||||
|
||||
## Uncomment this if the package has a setup.py. This macro ensures
|
||||
## modules and global scripts declared therein get installed
|
||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||
# catkin_python_setup()
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||
## but can be declared for certainty nonetheless:
|
||||
## * add a exec_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
# add_message_files(
|
||||
# FILES
|
||||
# Message1.msg
|
||||
# Message2.msg
|
||||
# )
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
|
||||
# FILES
|
||||
# Service1.srv
|
||||
# Service2.srv
|
||||
# )
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
# generate_messages(
|
||||
# DEPENDENCIES
|
||||
# std_msgs # Or other packages containing msgs
|
||||
# )
|
||||
|
||||
################################################
|
||||
## Declare ROS dynamic reconfigure parameters ##
|
||||
################################################
|
||||
|
||||
## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||
## and list every .cfg file to be processed
|
||||
|
||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
# generate_dynamic_reconfigure_options(
|
||||
# cfg/DynReconf1.cfg
|
||||
# cfg/DynReconf2.cfg
|
||||
# )
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
# INCLUDE_DIRS include
|
||||
# LIBRARIES scout_viz
|
||||
# CATKIN_DEPENDS other_catkin_pkg
|
||||
# DEPENDS system_lib
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
# include
|
||||
# ${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
## Declare a C++ library
|
||||
# add_library(${PROJECT_NAME}
|
||||
# src/${PROJECT_NAME}/scout_viz.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
## The recommended prefix ensures that target names across packages don't collide
|
||||
# add_executable(${PROJECT_NAME}_node src/scout_viz_node.cpp)
|
||||
|
||||
## Rename C++ executable without prefix
|
||||
## The above recommended prefix causes long target names, the following renames the
|
||||
## target back to the shorter version for ease of user use
|
||||
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||
|
||||
## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
# all install targets should use catkin DESTINATION variables
|
||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
# catkin_install_python(PROGRAMS
|
||||
# scripts/my_python_script
|
||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark executables for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||
# install(TARGETS ${PROJECT_NAME}_node
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
# install(TARGETS ${PROJECT_NAME}
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_viz.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
10
scout_viz/launch/display_model.launch
Normal file
10
scout_viz/launch/display_model.launch
Normal file
@@ -0,0 +1,10 @@
|
||||
<launch>
|
||||
<arg name = "model_xacro" default = "$(find scout_description)/urdf/scout_v2.xacro" />
|
||||
<arg name="model" />
|
||||
|
||||
<include file="$(find scout_description)/launch/description.launch" >
|
||||
<arg name = "model_xacro" default = "$(arg model_xacro)" />
|
||||
</include>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_viz)/rviz/model_display.rviz" />
|
||||
</launch>
|
||||
59
scout_viz/package.xml
Normal file
59
scout_viz/package.xml
Normal file
@@ -0,0 +1,59 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>scout_viz</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The scout_viz package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="tanpinda@todo.todo">tanpinda</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/scout_viz</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
209
scout_viz/rviz/model_display.rviz
Normal file
209
scout_viz/rviz/model_display.rviz
Normal file
@@ -0,0 +1,209 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 732
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/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/RobotModel
|
||||
Collision Enabled: false
|
||||
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
|
||||
chassis_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
inertial_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
rear_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base_link:
|
||||
Value: true
|
||||
chassis_link:
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Value: true
|
||||
inertial_link:
|
||||
Value: true
|
||||
rear_left_wheel_link:
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
base_link:
|
||||
chassis_link:
|
||||
front_left_wheel_link:
|
||||
{}
|
||||
front_right_wheel_link:
|
||||
{}
|
||||
rear_left_wheel_link:
|
||||
{}
|
||||
rear_right_wheel_link:
|
||||
{}
|
||||
inertial_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2.9432930946350098
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.027046792209148407
|
||||
Y: -0.03490818291902542
|
||||
Z: -0.09952529519796371
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5447957515716553
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.27542781829834
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1029
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1869
|
||||
X: 632
|
||||
Y: 291
|
||||
209
scout_viz/rviz/navigation.rviz
Normal file
209
scout_viz/rviz/navigation.rviz
Normal file
@@ -0,0 +1,209 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 732
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/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/RobotModel
|
||||
Collision Enabled: false
|
||||
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
|
||||
chassis_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
inertial_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
rear_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base_link:
|
||||
Value: true
|
||||
chassis_link:
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Value: true
|
||||
inertial_link:
|
||||
Value: true
|
||||
rear_left_wheel_link:
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
base_link:
|
||||
chassis_link:
|
||||
front_left_wheel_link:
|
||||
{}
|
||||
front_right_wheel_link:
|
||||
{}
|
||||
rear_left_wheel_link:
|
||||
{}
|
||||
rear_right_wheel_link:
|
||||
{}
|
||||
inertial_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: odom
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2.9432930946350098
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.027046792209148407
|
||||
Y: -0.03490818291902542
|
||||
Z: -0.09952529519796371
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5447957515716553
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.27542781829834
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1029
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1869
|
||||
X: 632
|
||||
Y: 291
|
||||
Reference in New Issue
Block a user