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hmazhar-nvhmazhar-nv
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Merge branch 'main' into 'release'
Update for Isaac Sim 2023.1.0 See merge request Isaac/isaac_sim_ros_workspaces!8
2 parents f36acb8 + 8eeb8e5 commit d682011

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‎build_foxy.sh‎

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#!/bin/bash
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set -e
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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# MY_DIR="$(realpath -s "$SCRIPT_DIR"/build_ws/foxy)"
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docker build . --network=host -f ubuntu_20_foxy_minimal.dockerfile -t isaac_sim_ros:ubuntu_20_foxy
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rm -rf build_ws/foxy
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mkdir -p build_ws/foxy
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pushd build_ws/foxy
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docker cp $(docker create --rm isaac_sim_ros:ubuntu_20_foxy):/workspace/foxy_ws foxy_ws
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docker cp $(docker create --rm isaac_sim_ros:ubuntu_20_foxy):/workspace/build_ws isaac_sim_ros_ws
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popd

‎build_humble.sh‎

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#!/bin/bash
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set -e
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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docker build . --network=host -f ubuntu_20_humble_minimal.dockerfile -t isaac_sim_ros:ubuntu_20_humble
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rm -rf build_ws/humble
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mkdir -p build_ws/humble
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pushd build_ws/humble
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docker cp $(docker create --rm isaac_sim_ros:ubuntu_20_humble):/workspace/humble_ws humble_ws
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docker cp $(docker create --rm isaac_sim_ros:ubuntu_20_humble):/workspace/build_ws isaac_sim_ros_ws
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popd

‎foxy_ws/src/custom_message/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(custom_message)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/SampleMsg.msg"
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DEPENDENCIES std_msgs
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)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎foxy_ws/src/custom_message/msg/SampleMsg.msg‎

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std_msgs/String my_string
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int64 my_num

‎foxy_ws/src/custom_message/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>custom_message</name>
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<version>0.0.0</version>
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<description>Custom Message Sample Package</description>
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<maintainer email="[email protected]">isaac sim</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>std_msgs</depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎foxy_ws/src/isaac_tutorials/package.xml‎

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@@ -21,13 +21,13 @@
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<build_depend>launch</build_depend>
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<build_depend>launch_ros</build_depend>
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<exec_depend>joint_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<build_depend>joint_state_publisher</build_depend>
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<build_depend>rviz2</build_depend>
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<build_depend>turtlebot3</build_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎foxy_ws/src/isaac_tutorials/rviz2/camera_lidar.rviz‎

Lines changed: 107 additions & 63 deletions
Original file line numberDiff line numberDiff line change
@@ -5,12 +5,11 @@ Panels:
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Property Tree Widget:
66
Expanded:
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- /Global Options1
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- /Camera1 - RGB1/Status1
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- /Camera1 - Depth1
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- /LaserScan1
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- /LaserScan1/Topic1
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- /Status1
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- /Camera1 - RGB1
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- /TF1
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Splitter Ratio: 0.5
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Tree Height: 1320
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Tree Height: 871
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -45,28 +44,8 @@ Visualization Manager:
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_default_plugins/Camera
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Enabled: true
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Image Rendering: background and overlay
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Name: Camera1 - RGB
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Overlay Alpha: 0.5
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rgb
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Value: true
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Visibility:
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Camera1 - Depth: true
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Camera2 - Depth: true
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Camera2 - RGB: true
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Grid: true
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LaserScan: true
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Value: true
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Zoom Factor: 1
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- Class: rviz_default_plugins/Image
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Enabled: true
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
@@ -77,8 +56,8 @@ Visualization Manager:
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /depth
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Value: true
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Value: /camera_1/depth/image_rect_raw
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Value: false
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /depth_2
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Value: /camera_2/depth/image_rect_raw
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Value: true
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- Class: rviz_default_plugins/Camera
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Enabled: true
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Image Rendering: background and overlay
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Name: Camera2 - RGB
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Overlay Alpha: 0.5
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rgb_2
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Value: true
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Visibility:
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Camera1 - Depth: true
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Camera1 - RGB: true
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Camera2 - Depth: true
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Grid: true
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LaserScan: true
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Value: true
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Zoom Factor: 1
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 255
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Max Intensity: 34
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Min Color: 0; 0; 0
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Min Intensity: 255
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Min Intensity: 1
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Name: LaserScan
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Position Transformer: XYZ
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Selectable: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /laser_scan
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Camera2 - RGB
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /camera_2/rgb/image_raw
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Camera1 - RGB
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /camera_1/rgb/image_raw
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Value: false
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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Camera_1:
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Value: true
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Camera_2:
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Value: true
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base_footprint:
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Value: true
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base_link:
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Value: true
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base_scan:
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Value: true
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caster_back_link:
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Value: true
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imu_link:
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Value: true
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odom:
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Value: true
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wheel_left_link:
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Value: true
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wheel_right_link:
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Value: true
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world:
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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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world:
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Camera_1:
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{}
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Camera_2:
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{}
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base_link:
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base_footprint:
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{}
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base_scan:
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{}
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caster_back_link:
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{}
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imu_link:
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{}
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wheel_left_link:
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{}
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wheel_right_link:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: turtle
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
@@ -189,25 +233,25 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 19.204917907714844
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Distance: 8.917070388793945
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
199-
X: 0.5110418796539307
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Y: -1.0566859245300293
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Z: 0.44239383935928345
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X: -1.0011783838272095
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Y: 1.8463866710662842
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Z: 0.4111546277999878
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 1.2147969007492065
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Pitch: 0.329797625541687
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Target Frame: <Fixed Frame>
209253
Value: Orbit (rviz)
210-
Yaw: 1.8303974866867065
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Yaw: 0.25040191411972046
211255
Saved: ~
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Window Geometry:
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Camera1 - Depth:
@@ -220,16 +264,16 @@ Window Geometry:
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collapsed: false
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Displays:
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collapsed: false
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Height: 1586
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Height: 1022
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Hide Left Dock: false
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Hide Right Dock: false
226-
QMainWindow State: 000000ff00000000fd0000000400000000000002a100000596fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000005960000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001a00430061006d00650072006100310020002d002000520047004203000023d4000002ab000001ee00000163fb0000001e00430061006d00650072006100320020002d00200044006500700074006803000027f0000006700000020800000148fb0000001e00430061006d00650072006100310020002d00200044006500700074006803000023f5000006660000020300000149fb0000001a00430061006d00650072006100320020002d002000520047004203000027cf000002b30000020500000149000000010000015f00000596fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000005960000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000a9e000000a9fc0100000003fb0000000c00430061006d006500720061000000000000000a9e0000000000000000fb0000000c00430061006d00650072006103000023f30000029f0000020100000149fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006c20000059600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
270+
QMainWindow State: 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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
232276
collapsed: false
233-
Width: 2778
234-
X: 8381
235-
Y: 423
277+
Width: 2527
278+
X: 1351
279+
Y: 96

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