update

2026-01-13 14:30:31 +07:00
parent 78b11b60fe
commit acc6fd38ab
14 changed files with 335 additions and 57 deletions
--- a/Controllers/Packages/amr_startup/rviz/navigation.rviz
+++ b/Controllers/Packages/amr_startup/rviz/navigation.rviz
@@ -7,12 +7,8 @@ Panels:
        - /Global Options1
        - /Grid1/Offset1
        - /TF1/Frames1
-        - /Global Map1
-        - /Local Map1/Costmap1
-        - /Local Map1/Trajectory1
-        - /Local Map1/Trajectory1/transform plan1
      Splitter Ratio: 0.37295082211494446
-    Tree Height: 422
+    Tree Height: 682
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@@ -69,18 +65,118 @@ Visualization Manager:
    - Alpha: 0.5
      Class: rviz/RobotModel
      Collision Enabled: true
-      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
+        back_nanoscan3_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_nanoscan3_sensor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_nanoscan3_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_nanoscan3_sensor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lifting_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        surface:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
-      Value: false
+      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
@@ -388,7 +484,7 @@ Visualization Manager:
          Enabled: true
          Name: Footprint
          Queue Size: 10
-          Topic: /amr_node/local_costmap/footprint
+          Topic: /local_costmap/costmap/footprint
          Unreliable: false
          Value: true
        - Alpha: 1
@@ -596,7 +692,7 @@ Visualization Manager:
  Value: true
  Views:
    Current:
-      Angle: -3.135005474090576
+      Angle: -3.150002956390381
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
@@ -606,10 +702,10 @@ Visualization Manager:
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Scale: -168.75274658203125
+      Scale: -62.776824951171875
      Target Frame: base_link
-      X: -0.49439820647239685
-      Y: 0.196189746260643
+      X: 1.189023494720459
+      Y: 0.44669991731643677
    Saved:
      - Angle: -34.55989074707031
        Class: rviz/TopDownOrtho
@@ -628,10 +724,10 @@ Visualization Manager:
 Window Geometry:
  Displays:
    collapsed: false
-  Height: 573
+  Height: 833
  Hide Left Dock: false
  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000024f000001e3fc0200000008fb000000100044006900730070006c006100790073010000003d000001e3000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000001e0000001e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002e7fc0200000008fb000000100044006900730070006c006100790073010000003d000002e7000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000002d9000002e700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time: