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fercabefercabe
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clean up
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‎launch/airsim.rviz‎

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /PointCloud21
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- /TF1
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- /TF1/Frames1
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- /Odometry1/Shape1
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Splitter Ratio: 0.5
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Tree Height: 728
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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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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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 6.736572265625
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Min Value: 0.8156452775001526
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 238; 238; 236
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Color Transformer: FlatColor
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Decay Time: 0
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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: -999999
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Min Color: 0; 0; 0
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Min Intensity: 999999
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.05000000074505806
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Style: Flat Squares
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Topic: /airsim_node/drone_1/lidar/Lidar2
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Unreliable: false
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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/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: false
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drone_1:
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Value: true
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map:
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Value: true
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odom:
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Value: false
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Marker Scale: 4
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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: true
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Tree:
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map:
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odom:
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drone_1:
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{}
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Update Interval: 0
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Value: true
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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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Max Value: 10.524999618530273
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Min Value: 0.02500000037252903
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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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: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.029999999329447746
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Style: Flat Squares
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Topic: /dll_node/map_point_cloud
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Unreliable: false
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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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- Alpha: 1
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Arrow Length: 0.30000001192092896
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Axes Length: 0.30000001192092896
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Axes Radius: 0.009999999776482582
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Class: rviz/PoseArray
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.07000000029802322
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Head Radius: 0.029999999329447746
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Name: PoseArray
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Shaft Length: 0.23000000417232513
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Shaft Radius: 0.009999999776482582
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Shape: Arrow (Flat)
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Topic: /mcl3d_node/particle_cloud
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Unreliable: false
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Value: true
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- Alpha: 1
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Class: rviz/PointStamped
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Color: 204; 41; 204
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Enabled: true
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History Length: 1
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Name: PointStamped
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Radius: 0.20000000298023224
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Topic: /mcl3d_node/gps_point
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Unreliable: false
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Value: true
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- Alpha: 1
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Arrow Length: 0.30000001192092896
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Axes Length: 0.30000001192092896
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Axes Radius: 0.009999999776482582
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Class: rviz/PoseArray
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.07000000029802322
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Head Radius: 0.029999999329447746
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Name: PoseArray
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Shaft Length: 0.23000000417232513
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Shaft Radius: 0.009999999776482582
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Shape: Arrow (Flat)
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Topic: /amcl3d_node/particle_cloud
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Unreliable: false
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Value: true
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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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Max Value: 4.724999904632568
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Min Value: -1.1749999523162842
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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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: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /amcl3d_node/map_point_cloud
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Unreliable: false
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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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- Angle Tolerance: 0.10000000149011612
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.30000001192092896
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: true
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Keep: 5000
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Name: Odometry
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Position Tolerance: 0.10000000149011612
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Shape:
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Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Color: 255; 25; 0
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Value: Arrow
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Topic: /publish_point_clouds/ground_truth
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Unreliable: false
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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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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/XYOrbit
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Distance: 49.49864196777344
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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:
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X: 13.840182304382324
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Y: 25.400665283203125
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Z: 1.33514404296875e-5
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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: -1.5247963666915894
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Target Frame: <Fixed Frame>
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Value: XYOrbit (rviz)
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Yaw: 6.255383491516113
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1025
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d8000000c80000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1853
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X: 67
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Y: 27

‎launch/airsim1.launch‎

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<!--
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-->
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<launch>
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# Use simulation time for TFs
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<param name="use_sim_time" value="true" />
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# Bag file
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<node name="bag_player" type="play" pkg="rosbag" args="airsim1.bag -s 0 -r 1.0 --clock " />
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# Fake odometry. You better use a good odometry estrimator as LOAM
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<node pkg="tf" type="static_transform_publisher" name="odom_tf" args="0 0 0 0 0 0 odom drone_1 10" />
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# airsim map conf
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<arg name="base_frame_id" default="drone_1"/>
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<arg name="odom_frame_id" default="odom"/>
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<arg name="global_frame_id" default="map"/>
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<arg name="initial_x" default="12.2"/>
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<arg name="initial_y" default="11.2"/>
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<arg name="initial_z" default="6.9"/>
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<arg name="initial_a" default="1.5"/>
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<arg name="map" default="airsim.bt" />
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<arg name="map_path" default="$(find dll)/maps/$(arg map)"/>
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# Launch DLL
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<node name="dll_node" type="dll_node" pkg="dll" output="screen">
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<remap from="/dll_node/initial_pose" to="/initialpose"/>
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<remap from="/imu" to="/airsim_node/drone_1/imu/Imu"/>
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<param name="in_cloud" value="/airsim_node/drone_1/lidar/Lidar2" />
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<param name="base_frame_id" value="$(arg base_frame_id)" />
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<param name="odom_frame_id" value="$(arg odom_frame_id)" />
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<param name="global_frame_id" value="$(arg global_frame_id)" />
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<param name="rate" value="10.0" />
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<param name="map_path" value="$(arg map_path)" />
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<param name="sensor_dev" value="0.05" />
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<param name="publish_point_cloud" value="true" />
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<param name="update_min_d" value="0.01" />
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<param name="update_min_a" value="0.01" />
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<param name="update_min_time" value="0.1" />
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<param name="initial_x" value="$(arg initial_x)"/>
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<param name="initial_y" value="$(arg initial_y)"/>
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<param name="initial_z" value="$(arg initial_z)"/>
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<param name="initial_a" value="$(arg initial_a)"/>
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<param name="use_imu" value="true" />
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<param name="align_method" value="1" /> # 1: DLL, 2: NDT, 3: ICP
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</node>
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<node name="rviz" type="rviz" pkg="rviz" args="-d $(find dll)/launch/airsim.rviz" output="screen"/>
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</launch>

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