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Added launch file for running elevation mapping node in robot_slam
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Jacob Gloudemans
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Apr 5, 2019
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26 changes: 26 additions & 0 deletions
26
robot_misc_tools/scripts/tf_configs_static/elevation_mapping_test.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| { | ||
| "transforms" : [ | ||
| { | ||
| "frame_id" : "world", | ||
| "child_id" : "aruco_board_origin", | ||
| "trans_x" : 0.0, | ||
| "trans_y" : 0.0, | ||
| "trans_z" : 0.515, | ||
| "rot_x" : 0, | ||
| "rot_y" : 0, | ||
| "rot_z" : 0, | ||
| "rot_w" : 1 | ||
| }, | ||
| { | ||
| "frame_id" : "aruco_camera", | ||
| "child_id" : "camera_link", | ||
| "trans_x" : 0, | ||
| "trans_y" : 0, | ||
| "trans_z" : 0, | ||
| "rot_x" : 0, | ||
| "rot_y" : 0, | ||
| "rot_z" : 0, | ||
| "rot_w" : 1 | ||
| } | ||
| ] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,198 @@ | ||
| Panels: | ||
| - Class: rviz/Displays | ||
| Help Height: 78 | ||
| Name: Displays | ||
| Property Tree Widget: | ||
| Expanded: | ||
| - /TF1/Frames1 | ||
| - /Map1 | ||
| Splitter Ratio: 0.551246524 | ||
| Tree Height: 719 | ||
| - Class: rviz/Selection | ||
| Name: Selection | ||
| - Class: rviz/Tool Properties | ||
| Expanded: | ||
| - /2D Pose Estimate1 | ||
| - /2D Nav Goal1 | ||
| - /Publish Point1 | ||
| Name: Tool Properties | ||
| Splitter Ratio: 0.588679016 | ||
| - Class: rviz/Views | ||
| Expanded: | ||
| - /Current View1 | ||
| Name: Views | ||
| Splitter Ratio: 0.5 | ||
| - Class: rviz/Time | ||
| Experimental: false | ||
| Name: Time | ||
| SyncMode: 0 | ||
| SyncSource: PointCloud2 | ||
| Visualization Manager: | ||
| Class: "" | ||
| Displays: | ||
| - Alpha: 0.5 | ||
| Cell Size: 0.25 | ||
| Class: rviz/Grid | ||
| Color: 114; 114; 117 | ||
| Enabled: true | ||
| Line Style: | ||
| Line Width: 0.0299999993 | ||
| Value: Lines | ||
| Name: Grid | ||
| Normal Cell Count: 0 | ||
| Offset: | ||
| X: 0 | ||
| Y: 0 | ||
| Z: 0 | ||
| Plane: XY | ||
| Plane Cell Count: 18 | ||
| Reference Frame: <Fixed Frame> | ||
| Value: true | ||
| - Class: rviz/TF | ||
| Enabled: true | ||
| Frame Timeout: 15 | ||
| Frames: | ||
| All Enabled: false | ||
| camera_depth_frame: | ||
| Value: false | ||
| camera_depth_optical_frame: | ||
| Value: false | ||
| camera_link: | ||
| Value: true | ||
| camera_rgb_frame: | ||
| Value: false | ||
| camera_rgb_optical_frame: | ||
| Value: false | ||
| Marker Scale: 0.25 | ||
| Name: TF | ||
| Show Arrows: true | ||
| Show Axes: true | ||
| Show Names: true | ||
| Tree: | ||
| camera_link: | ||
| camera_depth_frame: | ||
| camera_depth_optical_frame: | ||
| {} | ||
| camera_rgb_frame: | ||
| camera_rgb_optical_frame: | ||
| {} | ||
| 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/PointCloud2 | ||
| Color: 0; 0; 0 | ||
| Color Transformer: FlatColor | ||
| Decay Time: 0 | ||
| Enabled: true | ||
| Invert Rainbow: false | ||
| Max Color: 0; 85; 0 | ||
| Max Intensity: 4096 | ||
| Min Color: 0; 0; 0 | ||
| Min Intensity: 0 | ||
| Name: PointCloud2 | ||
| Position Transformer: XYZ | ||
| Queue Size: 10 | ||
| Selectable: true | ||
| Size (Pixels): 1 | ||
| Size (m): 0.00499999989 | ||
| Style: Points | ||
| Topic: /camera/depth/points | ||
| Unreliable: false | ||
| Use Fixed Frame: true | ||
| Use rainbow: false | ||
| Value: true | ||
| - Alpha: 1 | ||
| Axes Length: 1 | ||
| Axes Radius: 0.100000001 | ||
| Class: rviz/Pose | ||
| Color: 255; 25; 0 | ||
| Enabled: true | ||
| Head Length: 0.100000001 | ||
| Head Radius: 0.0250000004 | ||
| Name: Pose | ||
| Shaft Length: 0.100000001 | ||
| Shaft Radius: 0.00999999978 | ||
| Shape: Arrow | ||
| Topic: /cur_pose | ||
| Unreliable: false | ||
| Value: true | ||
| - Alpha: 0.699999988 | ||
| Class: rviz/Map | ||
| Color Scheme: map | ||
| Draw Behind: false | ||
| Enabled: true | ||
| Name: Map | ||
| Topic: /elevation_map_fused_visualization/elevation_grid | ||
| Unreliable: false | ||
| Use Timestamp: false | ||
| Value: true | ||
| Enabled: true | ||
| Global Options: | ||
| Background Color: 230; 230; 230 | ||
| Default Light: true | ||
| Fixed Frame: camera_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 | ||
| Topic: /initialpose | ||
| - 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: 3.18881035 | ||
| Enable Stereo Rendering: | ||
| Stereo Eye Separation: 0.0599999987 | ||
| Stereo Focal Distance: 1 | ||
| Swap Stereo Eyes: false | ||
| Value: false | ||
| Focal Point: | ||
| X: 1.63787627 | ||
| Y: 0.0910898745 | ||
| Z: -0.757259429 | ||
| Focal Shape Fixed Size: true | ||
| Focal Shape Size: 0.0500000007 | ||
| Invert Z Axis: false | ||
| Name: Current View | ||
| Near Clip Distance: 0.00999999978 | ||
| Pitch: 0.560201287 | ||
| Target Frame: <Fixed Frame> | ||
| Value: Orbit (rviz) | ||
| Yaw: 3.30861092 | ||
| Saved: ~ | ||
| Window Geometry: | ||
| Displays: | ||
| collapsed: false | ||
| Height: 1007 | ||
| Hide Left Dock: false | ||
| Hide Right Dock: false | ||
| QMainWindow State: 000000ff00000000fd00000004000000000000016b00000362fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000362000000db00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000345fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000345000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003ffc0100000002fb0000000800540069006d00650100000000000007800000031700fffffffb0000000800540069006d006501000000000000045000000000000000000000060f0000036200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
| Selection: | ||
| collapsed: false | ||
| Time: | ||
| collapsed: false | ||
| Tool Properties: | ||
| collapsed: false | ||
| Views: | ||
| collapsed: false | ||
| Width: 1920 | ||
| X: 0 | ||
| Y: 24 |
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