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hemalshahNVhemalshahNV
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Isaac ROS 2.0.0
1 parent 8d23a35 commit 5d1bebc

30 files changed

+803
-479
lines changed

‎README.md‎

Lines changed: 50 additions & 236 deletions
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‎docs/tutorial-bi3d-freespace-isaac-sim.md‎

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‎docs/tutorial-bi3d-freespace-realsense.md‎

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‎isaac_ros_bi3d_freespace/CMakeLists.txt‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
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#
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# SPDX-License-Identifier: Apache-2.0
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18-
cmake_minimum_required(VERSION 3.23.2)
18+
cmake_minimum_required(VERSION 3.22.1)
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project(isaac_ros_bi3d_freespace LANGUAGES C CXX)
2020

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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -42,6 +42,12 @@ if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# The FindPythonInterp and FindPythonLibs modules are removed
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if(POLICY CMP0148)
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cmake_policy(SET CMP0148 OLD)
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endif()
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find_package(launch_testing_ament_cmake REQUIRED)
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add_launch_test(test/isaac_ros_freespace_segmentation_pol.py TIMEOUT "1000")
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endif()

‎isaac_ros_bi3d_freespace/config/isaac_ros_bi3d_freespace_isaac_sim.rviz‎

Lines changed: 67 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -7,8 +7,9 @@ Panels:
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- /Global Options1
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- /Status1
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- /Grid1
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- /Map1
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Splitter Ratio: 0.5
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Tree Height: 1042
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Tree Height: 966
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -53,62 +54,85 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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back_2d_lidar:
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Value: true
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base_link:
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Value: true
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carter_camera_stereo_left:
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chassis_link:
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Value: true
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front_2d_lidar:
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Value: true
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carter_camera_stereo_right:
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front_3d_lidar:
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Value: true
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carter_lidar:
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front_stereo_camera:imu:
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Value: true
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chassis_link:
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front_stereo_camera:left_rgb:
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Value: true
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com_offset:
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front_stereo_camera:right_rgb:
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Value: true
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imu:
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left_stereo_camera:imu:
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Value: true
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left_wheel_link:
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left_stereo_camera:left_rgb:
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Value: true
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map:
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left_stereo_camera:right_rgb:
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Value: true
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odom:
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Value: true
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rear_pivot_link:
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rear_stereo_camera:imu:
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Value: true
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rear_wheel_link:
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rear_stereo_camera:left_rgb:
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Value: true
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right_wheel_link:
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rear_stereo_camera:right_rgb:
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Value: true
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right_stereo_camera:imu:
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Value: true
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right_stereo_camera:left_rgb:
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Value: true
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right_stereo_camera:right_rgb:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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map:
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odom:
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base_link:
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chassis_link:
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carter_camera_stereo_left:
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{}
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carter_camera_stereo_right:
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{}
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carter_lidar:
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{}
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com_offset:
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{}
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imu:
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{}
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left_wheel_link:
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{}
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rear_pivot_link:
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rear_wheel_link:
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{}
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right_wheel_link:
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{}
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odom:
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base_link:
101+
back_2d_lidar:
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{}
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chassis_link:
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{}
105+
front_2d_lidar:
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{}
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front_3d_lidar:
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{}
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front_stereo_camera:imu:
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{}
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front_stereo_camera:left_rgb:
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{}
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front_stereo_camera:right_rgb:
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{}
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left_stereo_camera:imu:
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{}
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left_stereo_camera:left_rgb:
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{}
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left_stereo_camera:right_rgb:
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{}
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rear_stereo_camera:imu:
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{}
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rear_stereo_camera:left_rgb:
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{}
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rear_stereo_camera:right_rgb:
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{}
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right_stereo_camera:imu:
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{}
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right_stereo_camera:left_rgb:
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{}
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right_stereo_camera:right_rgb:
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{}
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Update Interval: 0
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Value: true
111-
- Alpha: 0.699999988079071
135+
- Alpha: 1
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Class: rviz_default_plugins/Map
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Color Scheme: map
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Draw Behind: false
@@ -132,7 +156,7 @@ Visualization Manager:
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
135-
Fixed Frame: map
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Fixed Frame: odom
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Frame Rate: 30
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Name: root
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Tools:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
178-
Distance: 32.01762008666992
202+
Distance: 21.24007797241211
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
@@ -190,18 +214,18 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
193-
Pitch: 0.7647965550422668
217+
Pitch: 0.73979651927948
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz_default_plugins)
196-
Yaw: 4.062389373779297
220+
Yaw: 3.5823850631713867
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
201-
Height: 1333
225+
Height: 1257
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Hide Left Dock: false
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Hide Right Dock: false
204-
QMainWindow State: 000000ff00000000fd0000000400000000000001560000049bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000049b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000049bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000049b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006b80000003efc0100000002fb0000000800540069006d00650100000000000006b80000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000004470000049b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
228+
QMainWindow State: 000000ff00000000fd0000000400000000000001560000044ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000044f000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000044ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000044f000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000072c0000003efc0100000002fb0000000800540069006d006501000000000000072c0000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000004bb0000044f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
@@ -210,6 +234,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1720
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X: 1720
215-
Y: 0
237+
Width: 1836
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X: 2799
239+
Y: 67

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