diff --git a/orne_rviz_plugins/CMakeLists.txt b/orne_rviz_plugins/CMakeLists.txt new file mode 100644 index 0000000..54a4b6d --- /dev/null +++ b/orne_rviz_plugins/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 2.8.3) +project(orne_rviz_plugins) +find_package(catkin REQUIRED COMPONENTS rviz std_srvs) +catkin_package() +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +## This setting causes Qt's "MOC" generation to happen automatically. +set(CMAKE_AUTOMOC ON) + +## This plugin includes Qt widgets, so we must include Qt. +## We'll use the version that rviz used so they are compatible. +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + ## pull in all required include dirs, define QT_LIBRARIES, etc. + include(${QT_USE_FILE}) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies + set(QT_LIBRARIES Qt5::Widgets) +endif() + +add_definitions(-DQT_NO_KEYWORDS) + +set(SOURCE_FILES + src/state_trigger_panel.cpp + ${MOC_FILES} +) + +add_library(${PROJECT_NAME} ${SOURCE_FILES}) + +target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES}) + +install(TARGETS + ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES + plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(DIRECTORY media/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media) + +install(DIRECTORY icons/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) + diff --git a/orne_rviz_plugins/icons/classes/Imu.png b/orne_rviz_plugins/icons/classes/Imu.png new file mode 100644 index 0000000..7d90110 --- /dev/null +++ b/orne_rviz_plugins/icons/classes/Imu.png Binary files differ diff --git a/orne_rviz_plugins/icons/classes/PlantFlag.png b/orne_rviz_plugins/icons/classes/PlantFlag.png new file mode 100644 index 0000000..d11c0ee --- /dev/null +++ b/orne_rviz_plugins/icons/classes/PlantFlag.png Binary files differ diff --git a/orne_rviz_plugins/icons/classes/Teleop.png b/orne_rviz_plugins/icons/classes/Teleop.png new file mode 100644 index 0000000..d96e6c1 --- /dev/null +++ b/orne_rviz_plugins/icons/classes/Teleop.png Binary files differ diff --git a/orne_rviz_plugins/media/flag.dae b/orne_rviz_plugins/media/flag.dae new file mode 100644 index 0000000..e56a734 --- /dev/null +++ b/orne_rviz_plugins/media/flag.dae @@ -0,0 +1,323 @@ + + + + + Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com + Blender v:249 - Illusoft Collada Exporter v:0.3.162 + + + 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+ + + + + + + + -0.29478 -1.99835 2.70248 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + 0.00334 -0.00071 0.00118 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + + + + + + + + + 0.22856 0.00372 1.80362 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 0.18803 0.18803 0.18803 + + + + + + + + + + + + 0.00580 0.01041 0.99794 + 0 0 1 0.00000 + 0 1 0 -0.00000 + 1 0 0 0.00000 + 1.00000 1.00000 1.00000 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/orne_rviz_plugins/package.xml b/orne_rviz_plugins/package.xml new file mode 100644 index 0000000..55c71fc --- /dev/null +++ b/orne_rviz_plugins/package.xml @@ -0,0 +1,22 @@ + + orne_rviz_plugins + 0.0.1 + + The orne_rviz_plugins package + + Daiki Maekawa + BSD + + Daiki Maekawa + + catkin + rviz + std_srvs + rviz + std_srvs + + + + + + diff --git a/orne_rviz_plugins/plugin_description.xml b/orne_rviz_plugins/plugin_description.xml new file mode 100644 index 0000000..ccb9e11 --- /dev/null +++ b/orne_rviz_plugins/plugin_description.xml @@ -0,0 +1,9 @@ + + + + TODO + + + diff --git a/orne_rviz_plugins/src/state_trigger_panel.cpp b/orne_rviz_plugins/src/state_trigger_panel.cpp new file mode 100644 index 0000000..7e2a334 --- /dev/null +++ b/orne_rviz_plugins/src/state_trigger_panel.cpp @@ -0,0 +1,63 @@ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "state_trigger_panel.h" + +namespace orne_rviz_plugins +{ + +StateTriggerPanel::StateTriggerPanel( QWidget* parent ) + : rviz::Panel( parent ) +{ + start_client_ = nh_.serviceClient("start_wp_nav", false); + resume_client_ = nh_.serviceClient("resume_nav", false); + + start_nav_button_ = new QPushButton("StartWaypointsNavigation"); + resume_nav_button_ = new QPushButton("ResumeWaypointsNavigation"); + + QHBoxLayout* layout = new QHBoxLayout; + layout->addWidget(start_nav_button_); + layout->addWidget(resume_nav_button_); + setLayout( layout ); + + connect(start_nav_button_, SIGNAL(clicked()), this, SLOT(pushStartNavigation())); + connect(resume_nav_button_, SIGNAL(clicked()), this, SLOT(pushResumeNavigation())); +} + +void StateTriggerPanel::save( rviz::Config config ) const +{ + rviz::Panel::save( config ); +} + +void StateTriggerPanel::load( const rviz::Config& config ) +{ + rviz::Panel::load( config ); +} + +void StateTriggerPanel::pushStartNavigation() { + ROS_INFO("Service call: start waypoints navigation"); + + std_srvs::Trigger trigger; + start_client_.call(trigger); +} + +void StateTriggerPanel::pushResumeNavigation() { + ROS_INFO("Service call: resume waypoints navigation"); + + std_srvs::Trigger trigger; + resume_client_.call(trigger); +} + +} // end namespace orne_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(orne_rviz_plugins::StateTriggerPanel,rviz::Panel ) diff --git a/orne_rviz_plugins/src/state_trigger_panel.h b/orne_rviz_plugins/src/state_trigger_panel.h new file mode 100644 index 0000000..461b3a0 --- /dev/null +++ b/orne_rviz_plugins/src/state_trigger_panel.h @@ -0,0 +1,38 @@ +#ifndef STATE_TRIGGER_PANEL_H +#define STATE_TRIGGER_PANEL_H + +#ifndef Q_MOC_RUN +# include + +# include +#endif + +class QPushButton; + +namespace orne_rviz_plugins +{ + +class StateTriggerPanel: public rviz::Panel +{ +Q_OBJECT +public: + StateTriggerPanel( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + +public Q_SLOTS: + void pushStartNavigation(); + void pushResumeNavigation(); + +protected: + ros::NodeHandle nh_; + ros::ServiceClient start_client_, resume_client_; + QPushButton *start_nav_button_; + QPushButton *resume_nav_button_; + +}; + +} // end namespace orne_rviz_plugins + +#endif // STATE_TRIGGER_PANEL_H diff --git a/waypoint_nav/CMakeLists.txt b/waypoint_nav/CMakeLists.txt index ffbceca..54f30f4 100644 --- a/waypoint_nav/CMakeLists.txt +++ b/waypoint_nav/CMakeLists.txt @@ -38,6 +38,7 @@ ${catkin_INCLUDE_DIRS} ${yaml-cpp_INCLUDE_DIRS} ${waypoint_saver_INCLUDE_DIRS} + ../waypoint_saver/include ) add_executable(waypoint_nav src/waypoint_nav.cpp) diff --git a/waypoint_nav/launch/waypoint_nav.launch b/waypoint_nav/launch/waypoint_nav.launch index 82fc85f..8bef4db 100644 --- a/waypoint_nav/launch/waypoint_nav.launch +++ b/waypoint_nav/launch/waypoint_nav.launch @@ -1,10 +1,11 @@ + - + - + \ No newline at end of file diff --git a/waypoint_nav/rviz_cfg/nav.rviz b/waypoint_nav/rviz_cfg/nav.rviz new file mode 100644 index 0000000..a0b5c61 --- /dev/null +++ b/waypoint_nav/rviz_cfg/nav.rviz @@ -0,0 +1,343 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 383 + - 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: LaserScan + - Class: orne_rviz_plugins/StateTriggerPanel + Name: StateTriggerPanel +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: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + 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_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_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 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 127; 0; 127 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 170; 0; 0 + Min Color: 0; 85; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 10 + Size (m): 0.10000000149011612 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Queue Size: 10 + Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Queue Size: 10 + Topic: /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped + Unreliable: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Map + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 0; 127 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 10 + Name: PointStamped + Queue Size: 10 + Radius: 0.20000000298023224 + Topic: /target_point + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 127 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /waypoints + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 239; 41; 41 + Enabled: true + History Length: 1 + Name: PointStamped + Queue Size: 10 + Radius: 0.4000000059604645 + Topic: /filtered_target_point + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + 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/ThirdPersonFollower + Distance: 6.003083229064941 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.36166632175445557 + Y: 0.0590318888425827 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: base_link + Yaw: 3.2353971004486084 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 847 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000193000002b3fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e0000020a000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200530074006100740065005400720069006700670065007200500061006e0065006c010000024e000000a30000004100ffffff000000010000010f000002b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002b3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e00000003bfc0100000002fb0000000800540069006d00650100000000000005e00000026c00fffffffb0000000800540069006d0065010000000000000450000000000000000000000447000002b300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + StateTriggerPanel: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1504 + X: 0 + Y: 0 diff --git a/waypoint_nav/rviz_cfg/record_waypoints.rviz b/waypoint_nav/rviz_cfg/record_waypoints.rviz new file mode 100644 index 0000000..bfed1a6 --- /dev/null +++ b/waypoint_nav/rviz_cfg/record_waypoints.rviz @@ -0,0 +1,139 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 435 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 1 + Name: PointStamped + Radius: 0.2 + Topic: /clicked_point + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.1 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.3 + Head Radius: 0.1 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.05 + Shape: Arrow + Topic: /move_base_simple/goal + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + 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: 38.8507 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.403598 + Y: 0.599761 + Z: 0.253224 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.775398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.675416 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 716 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000013c00000242fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000242000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000252fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000252000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000036e0000024200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 196 + Y: 79 diff --git a/waypoint_nav/rviz_cfg/x.rviz b/waypoint_nav/rviz_cfg/x.rviz new file mode 100644 index 0000000..baac67f --- /dev/null +++ b/waypoint_nav/rviz_cfg/x.rviz @@ -0,0 +1,205 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /LaserScan1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 786 + - 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: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + 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: 10 + Reference Frame: + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + 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/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 11171 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + diagonally_hokuyo_link: + Value: true + hokuyo_link: + Value: true + imu_link: + Value: true + left_wheel: + Value: true + map: + Value: true + odom: + Value: true + right_wheel: + Value: true + visual_left_wheel: + Value: true + visual_right_wheel: + Value: true + Marker Scale: 5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + diagonally_hokuyo_link: + {} + hokuyo_link: + {} + imu_link: + {} + left_wheel: + {} + right_wheel: + {} + visual_left_wheel: + {} + visual_right_wheel: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + 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: 16.4437809 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.697737634 + Y: -0.00101808389 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.730398357 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 3.26039815 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1059 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000167000003a0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000025000003a0000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000025000003a0000000ab00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007490000003efc0100000002fb0000000800540069006d0065010000000000000749000002a400fffffffb0000000800540069006d00650100000000000004500000000000000000000004c9000003a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1865 + X: 55 + Y: 21 diff --git a/waypoint_nav/src/waypoint_nav.cpp b/waypoint_nav/src/waypoint_nav.cpp index 126a4f1..dbcc69e 100644 --- a/waypoint_nav/src/waypoint_nav.cpp +++ b/waypoint_nav/src/waypoint_nav.cpp @@ -12,7 +12,7 @@ #include #include -#include // include Waypoint class +#include // include Waypoint class #include #include @@ -511,7 +511,7 @@ int main(int argc, char *argv[]){ ros::init(argc, argv, ROS_PACKAGE_NAME); WaypointsNavigation w_nav; - // w_nav.run(); + w_nav.run(); return 0; } \ No newline at end of file diff --git a/waypoint_saver/launch/waypoint_saver.launch b/waypoint_saver/launch/waypoint_saver.launch index c119722..bfdb74f 100644 --- a/waypoint_saver/launch/waypoint_saver.launch +++ b/waypoint_saver/launch/waypoint_saver.launch @@ -6,13 +6,14 @@ + - + diff --git a/waypoint_saver/rviz_cfg/x.rviz b/waypoint_saver/rviz_cfg/x.rviz new file mode 100644 index 0000000..c337ca9 --- /dev/null +++ b/waypoint_saver/rviz_cfg/x.rviz @@ -0,0 +1,405 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + Splitter Ratio: 0.5529412031173706 + Tree Height: 823 + - 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: CameraScan +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: 50 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - 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 + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + payload_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_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/MarkerArray + Enabled: true + Marker Topic: /visualization_marker + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + 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/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Velodyne2D + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 7 + Size (m): 0.10000000149011612 + Style: Points + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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/LaserScan + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: CameraScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /camera_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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/LaserScan + Color: 170; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: HokuyoScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /hokuyo_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: GlobalCostmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: LocalCostmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: LocalCostmapArea + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Footprint + Queue Size: 10 + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 247; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: GlobalPlan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.07999999821186066 + Name: LocalPlan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: LocalGoal + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + 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/ThirdPersonFollower + Distance: 14.281959533691406 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.9902782440185547 + Y: 0.6635769605636597 + Z: 0 + 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: base_link + Yaw: 2.815399646759033 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 975 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000015600000374fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000374000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e0000037a000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005b30000003efc0100000002fb0000000800540069006d00650000000000000005b30000046900fffffffb0000000800540069006d00650100000000000004500000000000000000000004570000037400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1459 + X: -1 + Y: -50