update

2026-01-14 17:53:41 +07:00
parent 06756618e4
commit 8b476879a7
6 changed files with 386 additions and 234 deletions
--- a/Controllers/Packages/amr_startup/rviz/navigation.rviz
+++ b/Controllers/Packages/amr_startup/rviz/navigation.rviz
@@ -7,6 +7,8 @@ Panels:
        - /Global Options1
        - /Grid1/Offset1
        - /TF1/Frames1
+        - /Global Map1
+        - /Local Map1
      Splitter Ratio: 0.37295082211494446
    Tree Height: 682
  - Class: rviz/Selection
@@ -363,13 +365,13 @@ Visualization Manager:
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 255; 0
-          Enabled: false
+          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.20000000298023224
          Line Style: Lines
          Line Width: 0.05000000074505806
-          Name: Full Plan
+          Name: Plan
          Offset:
            X: 0
            Y: 0
@@ -380,9 +382,9 @@ Visualization Manager:
          Radius: 0.019999999552965164
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
-          Topic: /amr_node/SBPLLatticePlanner/plan
+          Topic: /global_costmap/costmap/plan
          Unreliable: false
-          Value: false
+          Value: true
        - Alpha: 1
          Class: rviz/Polygon
          Color: 255; 0; 0
@@ -392,82 +394,10 @@ Visualization Manager:
          Topic: /global_costmap/costmap/footprint
          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: 0.00800000037997961
-          Line Style: Billboards
-          Line Width: 0.009999999776482582
-          Name: CustomPath
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0.8999999761581421
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Queue Size: 10
-          Radius: 0.004999999888241291
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /amr_node/CustomPlanner/plan
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 0; 0; 0
-          Enabled: false
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.30000001192092896
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: Straight Path
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: Axes
-          Queue Size: 10
-          Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /amr_node/LocalPlannerAdapter/MKTGoStraightLocalPlanner/global_plan
-          Unreliable: false
-          Value: false
      Enabled: true
      Name: Global Map
    - Class: rviz/Group
      Displays:
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 252; 175; 62
-          Enabled: false
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
-          Length: 0.03999999910593033
-          Line Style: Lines
-          Line Width: 0.029999999329447746
-          Name: Global Path
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: Axes
-          Queue Size: 10
-          Radius: 0.009999999776482582
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
-          Topic: /amr_node/LocalPlannerAdapter/global_plan
-          Unreliable: false
-          Value: false
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: map
@@ -491,13 +421,13 @@ Visualization Manager:
          Buffer Length: 1
          Class: rviz/Path
          Color: 138; 226; 52
-          Enabled: false
+          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.029999999329447746
          Line Style: Billboards
          Line Width: 0.029999999329447746
-          Name: Local Plan
+          Name: Plan
          Offset:
            X: 0
            Y: 0
@@ -508,37 +438,9 @@ Visualization Manager:
          Radius: 0.009999999776482582
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
-          Topic: /amr_node/LocalPlannerAdapter/transformed_global_plan
+          Topic: /local_costmap/costmap/plan
          Unreliable: false
-          Value: false
-        - 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: 255; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: false
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Min Color: 0; 0; 0
-          Name: PointCloud2
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Flat Squares
-          Topic: /amr_node/PredictiveTrajectory/cost_cloud
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
-          Value: false
+          Value: true
        - Class: rviz/Group
          Displays:
            - Alpha: 1
@@ -702,10 +604,10 @@ Visualization Manager:
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Scale: -62.776824951171875
+      Scale: -105.0660171508789
      Target Frame: base_link
-      X: 1.189023494720459
-      Y: 0.44669991731643677
+      X: 2.555877447128296
+      Y: 1.0760011672973633
    Saved:
      - Angle: -34.55989074707031
        Class: rviz/TopDownOrtho
@@ -727,7 +629,7 @@ Window Geometry:
  Height: 833
  Hide Left Dock: false
  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002e7fc0200000008fb000000100044006900730070006c006100790073010000003d000002e7000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000002d9000002e700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002e7fc0200000008fb000000100044006900730070006c006100790073000000003d000002e7000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d0065010000000000000450000000000000000000000435000002e700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time: