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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
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Controllers/Packages/amr_startup/rviz/navigation.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Grid1/Offset1
- /TF1/Frames1
- /Global Map1/Straight Path1
- /Local Map1
- /Local Map1/Trajectory1
- /Local Map1/Trajectory1/transform plan1
- /Pose1
Splitter Ratio: 0.37295082211494446
Tree Height: 422
- 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
Name: Time
SyncMode: 0
SyncSource: Back LaserScan
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: 5
Y: 5
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: map
Value: true
- Alpha: 0.4000000059604645
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.5
Class: rviz/RobotModel
Collision Enabled: true
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
back_nanoscan3_base_link:
Value: false
back_nanoscan3_sensor_link:
Value: false
base_footprint:
Value: true
base_link:
Value: false
bl_caster_rotation_link:
Value: false
bl_caster_wheel_link:
Value: false
br_caster_rotation_link:
Value: false
br_caster_wheel_link:
Value: false
camera_link:
Value: false
fl_caster_rotation_link:
Value: false
fl_caster_wheel_link:
Value: false
fr_caster_rotation_link:
Value: false
fr_caster_wheel_link:
Value: false
front_nanoscan3_base_link:
Value: false
front_nanoscan3_sensor_link:
Value: false
imu_frame:
Value: false
imu_link:
Value: false
left_wheel_link:
Value: false
lifting_link:
Value: false
map:
Value: true
odom:
Value: true
right_wheel_link:
Value: false
surface:
Value: false
Marker Alpha: 1
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_link:
back_nanoscan3_base_link:
back_nanoscan3_sensor_link:
{}
bl_caster_rotation_link:
bl_caster_wheel_link:
{}
br_caster_rotation_link:
br_caster_wheel_link:
{}
camera_link:
{}
fl_caster_rotation_link:
fl_caster_wheel_link:
{}
fr_caster_rotation_link:
fr_caster_wheel_link:
{}
front_nanoscan3_base_link:
front_nanoscan3_sensor_link:
{}
imu_link:
imu_frame:
{}
left_wheel_link:
{}
lifting_link:
surface:
{}
right_wheel_link:
{}
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/LaserScan
Color: 204; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Front LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 6
Size (m): 0.09000000357627869
Style: Points
Topic: f_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: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Back LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /b_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Arrow Length: 0.20000000298023224
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 0; 192; 0
Enabled: false
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: Amcl Particle Swarm
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: particlecloud
Unreliable: false
Value: false
- Class: rviz/Group
Displays:
- Alpha: 0.5
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Costmap
Topic: /amr_node/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.20000000298023224
Line Style: Lines
Line Width: 0.05000000074505806
Name: Full Plan
Offset:
X: 0
Y: 0
Z: 0.8999999761581421
Pose Color: 255; 85; 255
Pose Style: Axes
Queue Size: 10
Radius: 0.019999999552965164
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /amr_node/SBPLLatticePlanner/plan
Unreliable: false
Value: false
- Alpha: 1
Class: rviz/Polygon
Color: 255; 0; 0
Enabled: true
Name: Footprint
Queue Size: 10
Topic: move_base_node/global_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
Draw Behind: false
Enabled: true
Name: Costmap
Topic: /amr_node/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: /amr_node/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 138; 226; 52
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.029999999329447746
Line Style: Billboards
Line Width: 0.029999999329447746
Name: Local Plan
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/transformed_global_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
- Class: rviz/Group
Displays:
- Alpha: 1
Axes Length: 0.10000000149011612
Axes Radius: 0.029999999329447746
Class: rviz/Pose
Color: 0; 0; 0
Enabled: true
Head Length: 0.05000000074505806
Head Radius: 0.05000000074505806
Name: SubGoalPose
Queue Size: 10
Shaft Length: 0.029999999329447746
Shaft Radius: 0.029999999329447746
Shape: Arrow
Topic: /amr_node/sub_goal
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 0.30000001192092896
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 252; 233; 79
Enabled: false
Head Length: 0.05000000074505806
Head Radius: 0.05000000074505806
Name: ClosetPose
Queue Size: 10
Shaft Length: 0.029999999329447746
Shaft Radius: 0.029999999329447746
Shape: Arrow
Topic: /amr_node/closet_robot_goal
Unreliable: false
Value: false
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.019999999552965164
Class: rviz/Pose
Color: 173; 127; 168
Enabled: false
Head Length: 0.05000000074505806
Head Radius: 0.05000000074505806
Name: Look A Head Pose
Queue Size: 10
Shaft Length: 0.05000000074505806
Shaft Radius: 0.029999999329447746
Shape: Axes
Topic: /amr_node/lookahead_point
Unreliable: false
Value: false
- Alpha: 1
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.029999999329447746
Class: rviz/PoseArray
Color: 0; 0; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.05000000074505806
Name: reached intermediated goals
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.029999999329447746
Shape: Axes
Topic: /amr_node/reached_intermediate_goals
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 245; 121; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.019999999552965164
Length: 0.029999999329447746
Line Style: Billboards
Line Width: 0.009999999776482582
Name: transform plan
Offset:
X: 0
Y: 0
Z: 0.5
Pose Color: 138; 226; 52
Pose Style: Axes
Queue Size: 10
Radius: 0.019999999552965164
Shaft Diameter: 0.009999999776482582
Shaft Length: 0.009999999776482582
Topic: /amr_node/transformed_plan
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: false
Marker Topic: /amr_node/PredictiveTrajectory/cost_left_goals
Name: L
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/Marker
Enabled: false
Marker Topic: /amr_node/PredictiveTrajectory/cost_right_goals
Name: R
Namespaces:
{}
Queue Size: 100
Value: false
Enabled: true
Name: Trajectory
Enabled: true
Name: Local Map
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.014999999664723873
Class: rviz/Pose
Color: 46; 52; 54
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /amr_node/current_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/MoveCamera
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- 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/Measure
- Class: rviz/PublishPoint
Single click: true
Topic: clicked_point
Value: true
Views:
Current:
Angle: -3.135005474090576
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: -359.3964538574219
Target Frame: base_link
X: -0.49439820647239685
Y: 0.196189746260643
Saved:
- Angle: -34.55989074707031
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: TopDownOrtho
Near Clip Distance: 0.009999999776482582
Scale: -132.97349548339844
Target Frame: base_link
X: 34.338645935058594
Y: 35.28913879394531
Window Geometry:
Displays:
collapsed: false
Height: 573
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000001e3fc0200000008fb000000100044006900730070006c006100790073000000003d000001e3000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d0065000000000000000752000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000418000001e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1048
X: 0
Y: 21