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HiepLM 2026-01-13 14:30:31 +07:00
parent 78b11b60fe
commit acc6fd38ab
14 changed files with 335 additions and 57 deletions
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28
Controllers/Packages/amr_control/CMakeLists.txt
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@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
robot_nav_2d_utils
move_base_core
robot_cpp
robot_nav_msgs
)
## System dependencies are found with CMake's conventions
@ -40,7 +41,7 @@ find_package(PkgConfig)
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES amr_control
LIBRARIES amr_control amr_control_converter amr_control_publisher amr_control_subscriber
CATKIN_DEPENDS
geometry_msgs
loc_core
@ -66,6 +67,18 @@ include_directories(
)
## Declare a C++ library
add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp)
add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_publisher ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(${PROJECT_NAME}_subscriber src/amr_subcriber.cpp)
add_dependencies(${PROJECT_NAME}_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_subscriber ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(${PROJECT_NAME}
src/amr_control.cpp
src/amr_monitor.cpp
@ -75,18 +88,14 @@ add_library(${PROJECT_NAME}
src/amr_make_plan_with_order.cpp
)
add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp src/amr_publiser.cpp)
add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_converter_EXPORTED_TARGETS} ${${PROJECT_NAME}_publisher_EXPORTED_TARGETS} ${${PROJECT_NAME}_subscriber_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(${PROJECT_NAME} PROPERTIES
set_target_properties(${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
@ -123,6 +132,8 @@ set_target_properties(${PROJECT_NAME}_node PROPERTIES
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${PROJECT_NAME}_converter
${PROJECT_NAME}_publisher
${PROJECT_NAME}_subscriber
${FreeOpcUa_LIBRARIES}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
@ -130,7 +141,6 @@ target_link_libraries(${PROJECT_NAME}
target_link_libraries(${PROJECT_NAME}_node
${PROJECT_NAME}
${PROJECT_NAME}_converter
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
@ -158,7 +168,7 @@ install(TARGETS ${PROJECT_NAME}_node
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}

4
Controllers/Packages/amr_control/include/amr_control/amr_control.h
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@ -29,6 +29,7 @@
#include <amr_control/tf_converter.h>
#include <amr_control/sensor_converter.h>
#include <amr_control/amr_publiser.h>
#include <amr_control/amr_subcriber.h>
#include <boost/dll/import.hpp>
@ -147,7 +148,8 @@ namespace amr_control
robot::TFListenerPtr tf_core_ptr_;
std::shared_ptr<amr_control::TfConverter> tf_converter_ptr_;
std::shared_ptr<amr_control::SensorConverter> sensor_converter_ptr_;
std::shared_ptr<amr_control::AmrPublisher> costmap_publisher_ptr_;
std::shared_ptr<amr_control::AmrPublisher> amr_publisher_ptr_;
std::shared_ptr<amr_control::AmrSubscriber> amr_subscriber_ptr_;
ros::Subscriber is_detected_maker_sub_;
std::shared_ptr<amr_control::OpcUAServerAPI> opc_ua_server_api_ptr_;

31
Controllers/Packages/amr_control/include/amr_control/amr_publiser.h
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@ -2,13 +2,13 @@
#define __AMR_PUBLISHER_H_INCLUDED_
#include <ros/ros.h>
#include <robot/robot.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/PolygonStamped.h>
#include <robot_nav_msgs/OccupancyGrid.h>
#include <robot_map_msgs/OccupancyGridUpdate.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <move_base_core/navigation.h>
#include <robot/time.h>
#include <memory>
#include <string>
@ -96,7 +96,18 @@ namespace amr_control
* @brief Check if publishing is active
* @return True if publishing is active (either global or local)
*/
bool isPublishing() const { return global_costmap_obj_.active_ || local_costmap_obj_.active_; }
bool isPublishing() const { return global_costmap_obj_.active_ || local_costmap_obj_.active_ || cmd_vel_publishing_active_; }
/**
* @brief Start publishing cmd_vel at a fixed rate using ros::WallTimer
* @param rate Publishing rate in Hz (default: 20.0 Hz)
*/
void startCmdVelPublishing(double rate = 20.0);
/**
* @brief Stop publishing cmd_vel
*/
void stopCmdVelPublishing();
private:
/**
@ -142,11 +153,27 @@ namespace amr_control
*/
void localCostmapTimerCallback(const ros::TimerEvent &event);
/**
* @brief Publish cmd_vel command
*/
void publishCmdVel();
/**
* @brief WallTimer callback for publishing cmd_vel
* @param event WallTimer event
*/
void cmdVelTimerCallback(const ros::WallTimerEvent &event);
ros::NodeHandle nh_;
robot::move_base_core::BaseNavigation::Ptr move_base_ptr_;
CostmapObject global_costmap_obj_;
CostmapObject local_costmap_obj_;
ros::Publisher cmd_vel_pub_;
// ros::WallTimer for cmd_vel publishing
ros::WallTimer cmd_vel_timer_;
bool cmd_vel_publishing_active_;
};
} // namespace amr_control

28
Controllers/Packages/amr_control/include/amr_control/amr_subcriber.h Normal file
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@ -0,0 +1,28 @@
#ifndef __AMR_SUBCRIBER_H_INCLUDED_
#define __AMR_SUBCRIBER_H_INCLUDED_
#include <ros/ros.h>
#include <robot/robot.h>
#include <geometry_msgs/PoseStamped.h>
#include <move_base_core/navigation.h>
#include <memory>
#include <string>
namespace amr_control
{
class AmrSubscriber
{
public:
AmrSubscriber(ros::NodeHandle &nh, robot::move_base_core::BaseNavigation::Ptr move_base_ptr);
virtual ~AmrSubscriber();
private:
void moveBaseSimpleCallback(const geometry_msgs::PoseStamped::ConstPtr &msg);
ros::NodeHandle nh_;
ros::Subscriber move_base_simple_sub_;
robot::move_base_core::BaseNavigation::Ptr move_base_ptr_;
};
} // namespace amr_control
#endif // __AMR_SUBCRIBER_H_INCLUDED_

3
Controllers/Packages/amr_control/include/amr_control/sensor_converter.h
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@ -1,6 +1,7 @@
#ifndef __SENSOR_CONVERTER_H_INCLUDED_
#define __SENSOR_CONVERTER_H_INCLUDED_
#include <ros/ros.h>
#include <robot/robot.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetMap.h>
#include <sensor_msgs/LaserScan.h>
@ -10,8 +11,6 @@
#include <robot_sensor_msgs/PointCloud2.h>
#include <robot_geometry_msgs/Point.h>
#include <robot_geometry_msgs/PoseStamped.h>
#include <robot/console.h>
#include <robot/time.h>
#include <move_base_core/navigation.h>
#include <memory>

3
Controllers/Packages/amr_control/include/amr_control/tf_converter.h
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@ -2,8 +2,7 @@
#define __TF_CONVERTER_H_INCLUDED_
#include <ros/ros.h>
#include <robot/console.h>
#include <robot/time.h>
#include <robot/robot.h>
#include <tf2_ros/transform_listener.h>
#include <tf3/buffer_core.h>
#include <tf3/exceptions.h>

5
Controllers/Packages/amr_control/package.xml
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@ -91,14 +91,15 @@
<build_depend>robot_cpp</build_depend>
<build_depend>robot_nav_2d_utils</build_depend>
<build_depend>move_base_core</build_depend>
<build_depend>robot_nav_msgs</build_depend>
<build_export_depend>robot_cpp</build_export_depend>
<build_export_depend>robot_nav_2d_utils</build_export_depend>
<build_export_depend>move_base_core</build_export_depend>
<build_export_depend>robot_nav_msgs</build_export_depend>
<exec_depend>robot_cpp</exec_depend>
<exec_depend>robot_nav_2d_utils</exec_depend>
<exec_depend>move_base_core</exec_depend>
<exec_depend>robot_nav_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->

29
Controllers/Packages/amr_control/src/amr_control.cpp
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@ -1,8 +1,6 @@
#include "amr_control/amr_control.h"
#include <robot/plugin_loader_helper.h>
#include <robot/console.h>
#include <robot/node_handle.h>
#include <robot/robot.h>
#include <tf3/buffer_core.h>
#include <geometry_msgs/Vector3.h>
#include <xmlrpcpp/XmlRpcValue.h>
@ -79,11 +77,12 @@ namespace amr_control
vda_5050_client_api_ptr_.reset();
}
// Stop costmap publishing
if (costmap_publisher_ptr_)
// Stop costmap and cmd_vel publishing
if (amr_publisher_ptr_)
{
costmap_publisher_ptr_->stopPublishing();
costmap_publisher_ptr_.reset();
amr_publisher_ptr_->stopPublishing();
amr_publisher_ptr_->stopCmdVelPublishing();
amr_publisher_ptr_.reset();
}
}
@ -243,8 +242,7 @@ namespace amr_control
robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath("MoveBase");
move_base_loader_ = boost::dll::import_alias<robot::move_base_core::BaseNavigation::Ptr()>(
path_file_so,
"MoveBase", boost::dll::load_mode::append_decorations);
path_file_so, "MoveBase", boost::dll::load_mode::append_decorations);
robot::log_info("[%s:%d]\n Creating MoveBase instance...", __FILE__, __LINE__);
move_base_ptr_ = move_base_loader_();
@ -253,7 +251,8 @@ namespace amr_control
// Initialize costmap publisher for RViz visualization
robot::log_info("[%s:%d]\n Initializing costmap publisher...", __FILE__, __LINE__);
costmap_publisher_ptr_ = std::make_shared<amr_control::AmrPublisher>(nh, move_base_ptr_);
amr_publisher_ptr_ = std::make_shared<amr_control::AmrPublisher>(nh, move_base_ptr_);
amr_subscriber_ptr_ = std::make_shared<amr_control::AmrSubscriber>(nh, move_base_ptr_);
ros::Rate r(3);
do
@ -330,10 +329,16 @@ namespace amr_control
// Start publishing costmaps to RViz
// Global costmap: 1 Hz, Local costmap: 5 Hz
if (costmap_publisher_ptr_)
if (amr_publisher_ptr_)
{
robot::log_info("[%s:%d]\n Starting costmap publishing to RViz...", __FILE__, __LINE__);
costmap_publisher_ptr_->startPublishing(1.0, 5.0);
amr_publisher_ptr_->startPublishing(1.0, 5.0);
// Start publishing cmd_vel using WallTimer
double cmd_vel_rate = 20.0; // Default: 20 Hz
nh.param("cmd_vel_publish_rate", cmd_vel_rate, cmd_vel_rate);
robot::log_info("[%s:%d]\n Starting cmd_vel publishing at %.2f Hz...", __FILE__, __LINE__, cmd_vel_rate);
amr_publisher_ptr_->startCmdVelPublishing(cmd_vel_rate);
}
}
}

2
Controllers/Packages/amr_control/src/amr_opc_ua_server_api.cpp
View File

@ -8,7 +8,7 @@
#include <angles/angles.h>
// pnkx core
#include <robot/time.h>
#include <robot/robot.h>
#include <robot_nav_2d_utils/conversions.h>
#include <robot_nav_2d_msgs/Twist2D.h>

80
Controllers/Packages/amr_control/src/amr_publiser.cpp
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@ -1,8 +1,10 @@
#include <amr_control/amr_publiser.h>
#include <robot/console.h>
#include <robot/robot.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <robot_costmap_2d/cost_values.h>
#include <boost/bind.hpp>
#include <robot_nav_2d_msgs/Twist2DStamped.h>
#include <geometry_msgs/Twist.h>
namespace amr_control
{
@ -14,11 +16,11 @@ AmrPublisher::AmrPublisher(ros::NodeHandle &nh, robot::move_base_core::BaseNavig
// Initialize default topic names
std::string global_costmap_topic = "/global_costmap/costmap";
std::string local_costmap_topic = "/local_costmap/costmap";
std::string cmd_vel_topic = "/cmd_vel";
// Get topic names from parameter server if available
nh_.param("global_costmap_topic", global_costmap_topic, global_costmap_topic);
nh_.param("local_costmap_topic", local_costmap_topic, local_costmap_topic);
nh_.param("cmd_vel_topic", cmd_vel_topic, cmd_vel_topic);
// Initialize publishers with callback for new subscriptions
global_costmap_obj_.pub_ = nh_.advertise<nav_msgs::OccupancyGrid>(
global_costmap_topic, 1,
@ -32,6 +34,10 @@ AmrPublisher::AmrPublisher(ros::NodeHandle &nh, robot::move_base_core::BaseNavig
local_costmap_obj_.update_pub_ = nh_.advertise<map_msgs::OccupancyGridUpdate>(local_costmap_topic + "_updates", 1);
local_costmap_obj_.footprint_pub_ = nh_.advertise<geometry_msgs::PolygonStamped>(local_costmap_topic + "/footprint", 1);
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>(cmd_vel_topic, 1);
cmd_vel_publishing_active_ = false;
robot::log_info("[AmrPublisher] Initialized. Cmd vel topic: %s", cmd_vel_topic.c_str());
// Initialize topic names in CostmapObject
global_costmap_obj_.topic_ = global_costmap_topic;
local_costmap_obj_.topic_ = local_costmap_topic;
@ -45,11 +51,13 @@ AmrPublisher::AmrPublisher(ros::NodeHandle &nh, robot::move_base_core::BaseNavig
global_costmap_topic.c_str(), local_costmap_topic.c_str());
robot::log_info("[AmrPublisher] Global footprint topic: %s/footprint, Local footprint topic: %s/footprint",
global_costmap_topic.c_str(), local_costmap_topic.c_str());
}
AmrPublisher::~AmrPublisher()
{
stopPublishing();
stopCmdVelPublishing();
}
void AmrPublisher::convertToNavOccupancyGrid(const robot_nav_msgs::OccupancyGrid &robot_grid,
@ -331,5 +339,71 @@ void AmrPublisher::onNewSubscriptionGlobal(const ros::SingleSubscriberPublisher&
publishGlobalCostmap();
}
void AmrPublisher::publishCmdVel()
{
if(!move_base_ptr_)
{
return;
}
if(!move_base_ptr_->getFeedback()->is_ready)
{
return;
}
robot_nav_2d_msgs::Twist2DStamped twist = move_base_ptr_->getTwist();
if(twist.header.stamp < robot::Time::now() - robot::Duration(0.05))
{
return;
}
geometry_msgs::Twist cmd_vel;
cmd_vel.linear.x = twist.velocity.x;
cmd_vel.linear.y = twist.velocity.y;
cmd_vel.angular.z = twist.velocity.theta;
cmd_vel_pub_.publish(cmd_vel);
}
void AmrPublisher::startCmdVelPublishing(double rate)
{
stopCmdVelPublishing(); // Stop any existing publishing first
if (rate <= 0.0)
{
robot::log_warning("[AmrPublisher] Invalid cmd_vel publishing rate: %.2f Hz. Must be > 0", rate);
return;
}
ros::WallDuration period(1.0 / rate);
cmd_vel_timer_ = nh_.createWallTimer(
period,
&AmrPublisher::cmdVelTimerCallback,
this,
false // oneshot = false
);
cmd_vel_publishing_active_ = true;
robot::log_info("[AmrPublisher] Started publishing cmd_vel at %.2f Hz using ros::WallTimer", rate);
}
void AmrPublisher::stopCmdVelPublishing()
{
if (cmd_vel_publishing_active_)
{
cmd_vel_timer_.stop();
cmd_vel_publishing_active_ = false;
robot::log_info("[AmrPublisher] Stopped publishing cmd_vel");
}
}
void AmrPublisher::cmdVelTimerCallback(const ros::WallTimerEvent &event)
{
(void)event;
if (cmd_vel_publishing_active_)
{
publishCmdVel();
}
}
} // namespace amr_control

28
Controllers/Packages/amr_control/src/amr_subcriber.cpp Normal file
View File

@ -0,0 +1,28 @@
#include "amr_control/amr_subcriber.h"
#include <geometry_msgs/PoseStamped.h>
amr_control::AmrSubscriber::AmrSubscriber(ros::NodeHandle &nh, robot::move_base_core::BaseNavigation::Ptr move_base_ptr)
: nh_(nh), move_base_ptr_(move_base_ptr)
{
robot::log_info("[%s:%d] Initializing AmrSubscriber namespace: %s", __FILE__, __LINE__, nh_.getNamespace().c_str());
ros::NodeHandle nh_move_base_simple;
move_base_simple_sub_ = nh_move_base_simple.subscribe("/move_base_simple/goal", 1, &AmrSubscriber::moveBaseSimpleCallback, this);
}
amr_control::AmrSubscriber::~AmrSubscriber()
{
}
void amr_control::AmrSubscriber::moveBaseSimpleCallback(const geometry_msgs::PoseStamped::ConstPtr &msg)
{
robot_geometry_msgs::PoseStamped goal;
goal.header.stamp = robot::Time::now();
goal.header.frame_id = msg->header.frame_id;
goal.pose.position.x = msg->pose.position.x;
goal.pose.position.y = msg->pose.position.y;
goal.pose.orientation.x = msg->pose.orientation.x;
goal.pose.orientation.y = msg->pose.orientation.y;
goal.pose.orientation.z = msg->pose.orientation.z;
goal.pose.orientation.w = msg->pose.orientation.w;
move_base_ptr_->moveTo(goal, 0.02, 0.02);
}

25
Controllers/Packages/amr_control/src/amr_vda_5050_client_api.cpp
View File

@ -3,6 +3,9 @@
#include <functional>
#include <optional>
#include "vda5050_msgs/Order.h"
#include "robot_nav_msgs/Path.h"
#include "robot_geometry_msgs/Pose2D.h"
#include "robot_nav_2d_utils/conversions.h"
namespace amr_control
{
@ -141,17 +144,17 @@ namespace amr_control
if (!paths.empty())
return;
std::vector<geometry_msgs::Pose2D> poses;
std::vector<robot_geometry_msgs::Pose2D> poses;
for (auto &p : paths)
{
geometry_msgs::Pose2D p_2d;
robot_geometry_msgs::Pose2D p_2d;
p_2d.x = p.getX();
p_2d.y = p.getY();
p_2d.theta = p.getYaw();
poses.push_back(p_2d);
}
// const nav_msgs::Path path = nav_2d_utils::poses2DToPath(poses, "map", ros::Time::now());
// goal = path.poses.back();
const robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(poses, "map", robot::Time::now());
goal = path.poses.back();
// VDA5050ClientAPI::plan_pub_.publish(path);
}
else if (global_plan_msg_type_ == std::string("vda5050_msgs::Order"))
@ -226,14 +229,20 @@ namespace amr_control
goal.header.frame_id = "map";
goal.pose.position.x = position.x;
goal.pose.position.y = position.y;
// tf3::Transform transform;
// transform.setRotation(tf3::Quaternion(0.0, 0.0, position.theta));
// goal = tf3::toMsg(transform);
goal.pose.position.z = 0.0;
// Convert theta (yaw) to Quaternion using setRPY
// setRPY(roll, pitch, yaw) - for 2D navigation, only yaw is used
tf3::Quaternion quat;
quat.setRPY(0.0, 0.0, position.theta);
goal.pose.orientation.x = quat.x();
goal.pose.orientation.y = quat.y();
goal.pose.orientation.z = quat.z();
goal.pose.orientation.w = quat.w();
}
else
return;
ros::Duration(0.1).sleep();
VDA5050ClientAPI::move_base_ptr_->moveTo(goal);
cmd_vel_max_.x = 0.2;
cmd_vel_max_.theta = 0.5;

124
Controllers/Packages/amr_startup/rviz/navigation.rviz
View File

@ -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:

2
pnkx_nav_core

@ -1 +1 @@
Subproject commit 145fb2088ea8145d6a51927142b5df00409a0aa6
Subproject commit 57b77ac14b144acddccc95cc9dd7e8d4d58728dc