diff --git a/launch/rviz_config/human.rviz b/launch/rviz_config/human.rviz new file mode 100644 index 0000000..b39c597 --- /dev/null +++ b/launch/rviz_config/human.rviz @@ -0,0 +1,438 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + - /Grid1/Offset1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 359 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: odom + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + Aruco_0_frame: + Value: true + Aruco_1_frame: + Value: true + Aruco_2_frame: + Value: true + CameraBottom_frame: + Value: false + CameraBottom_optical_frame: + Value: false + CameraTop_frame: + Value: false + CameraTop_optical_frame: + Value: false + ChestButton_frame: + Value: false + Head: + Value: false + HeadTouchFront_frame: + Value: false + HeadTouchMiddle_frame: + Value: false + HeadTouchRear_frame: + Value: false + ImuTorsoAccelerometer_frame: + Value: false + ImuTorsoGyrometer_frame: + Value: false + LAnklePitch: + Value: false + LBicep: + Value: false + LElbow: + Value: false + LFinger11_link: + Value: false + LFinger12_link: + Value: false + LFinger13_link: + Value: false + LFinger21_link: + Value: false + LFinger22_link: + Value: false + LFinger23_link: + Value: false + LFootBumperLeft_frame: + Value: false + LFootBumperRight_frame: + Value: false + LForeArm: + Value: false + LFsrFL_frame: + Value: false + LFsrFR_frame: + Value: false + LFsrRL_frame: + Value: false + LFsrRR_frame: + Value: false + LHandTouchBack_frame: + Value: false + LHandTouchLeft_frame: + Value: false + LHandTouchRight_frame: + Value: false + LHip: + Value: false + LInfraRed_frame: + Value: false + LPelvis: + Value: false + LShoulder: + Value: false + LSonar_frame: + Value: false + LThigh: + Value: false + LThumb1_link: + Value: false + LThumb2_link: + Value: false + LTibia: + Value: false + MicroFrontCenter_frame: + Value: false + MicroRearCenter_frame: + Value: false + MicroSurroundLeft_frame: + Value: false + MicroSurroundRight_frame: + Value: false + Neck: + Value: false + RAnklePitch: + Value: false + RBicep: + Value: false + RElbow: + Value: false + RFinger11_link: + Value: false + RFinger12_link: + Value: false + RFinger13_link: + Value: false + RFinger21_link: + Value: false + RFinger22_link: + Value: false + RFinger23_link: + Value: false + RFootBumperLeft_frame: + Value: false + RFootBumperRight_frame: + Value: false + RForeArm: + Value: false + RFsrFL_frame: + Value: false + RFsrFR_frame: + Value: false + RFsrRL_frame: + Value: false + RFsrRR_frame: + Value: false + RHandTouchBack_frame: + Value: false + RHandTouchLeft_frame: + Value: false + RHandTouchRight_frame: + Value: false + RHip: + Value: false + RInfraRed_frame: + Value: false + RPelvis: + Value: false + RShoulder: + Value: false + RSonar_frame: + Value: false + RThigh: + Value: false + RThumb1_link: + Value: false + RThumb2_link: + Value: false + RTibia: + Value: false + base_footprint: + Value: false + base_link: + Value: false + gaze: + Value: false + l_ankle: + Value: false + l_gripper: + Value: false + l_sole: + Value: false + l_wrist: + Value: false + odom: + Value: false + r_ankle: + Value: false + r_gripper: + Value: false + r_sole: + Value: false + r_wrist: + Value: false + torso: + Value: false + Marker Scale: 0.1 + Name: TF + Show Arrows: true + Show Axes: false + Show Names: true + Tree: + odom: + base_link: + base_footprint: + {} + torso: + ChestButton_frame: + {} + ImuTorsoAccelerometer_frame: + {} + ImuTorsoGyrometer_frame: + {} + LPelvis: + LHip: + LThigh: + LTibia: + LAnklePitch: + l_ankle: + LFootBumperLeft_frame: + {} + LFootBumperRight_frame: + {} + LFsrFL_frame: + {} + LFsrFR_frame: + {} + LFsrRL_frame: + {} + LFsrRR_frame: + {} + l_sole: + {} + LShoulder: + LBicep: + LElbow: + LForeArm: + l_wrist: + LFinger11_link: + LFinger12_link: + LFinger13_link: + {} + LFinger21_link: + LFinger22_link: + LFinger23_link: + {} + LHandTouchBack_frame: + {} + LHandTouchLeft_frame: + {} + LHandTouchRight_frame: + {} + LThumb1_link: + LThumb2_link: + {} + l_gripper: + {} + LSonar_frame: + {} + Neck: + Head: + CameraBottom_frame: + CameraBottom_optical_frame: + {} + CameraTop_frame: + CameraTop_optical_frame: + Aruco_0_frame: + {} + Aruco_1_frame: + {} + Aruco_2_frame: + {} + HeadTouchFront_frame: + {} + HeadTouchMiddle_frame: + {} + HeadTouchRear_frame: + {} + LInfraRed_frame: + {} + MicroFrontCenter_frame: + {} + MicroRearCenter_frame: + {} + MicroSurroundLeft_frame: + {} + MicroSurroundRight_frame: + {} + RInfraRed_frame: + {} + gaze: + {} + RPelvis: + RHip: + RThigh: + RTibia: + RAnklePitch: + r_ankle: + RFootBumperLeft_frame: + {} + RFootBumperRight_frame: + {} + RFsrFL_frame: + {} + RFsrFR_frame: + {} + RFsrRL_frame: + {} + RFsrRR_frame: + {} + r_sole: + {} + RShoulder: + RBicep: + RElbow: + RForeArm: + r_wrist: + RFinger11_link: + RFinger12_link: + RFinger13_link: + {} + RFinger21_link: + RFinger22_link: + RFinger23_link: + {} + RHandTouchBack_frame: + {} + RHandTouchLeft_frame: + {} + RHandTouchRight_frame: + {} + RThumb1_link: + RThumb2_link: + {} + r_gripper: + {} + RSonar_frame: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: torso + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.25714 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.280398 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.11041 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 663 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000279fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000000000000279000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f80000027900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 760 + X: 1015 + Y: 14 diff --git a/launch/rviz_config/nao.rviz b/launch/rviz_config/nao.rviz index d140f43..585da34 100644 --- a/launch/rviz_config/nao.rviz +++ b/launch/rviz_config/nao.rviz @@ -10,7 +10,7 @@ Panels: - /Grid1/Offset1 - /TF1 Splitter Ratio: 0.5 - Tree Height: 359 + Tree Height: 286 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -49,19 +49,13 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 10 - Reference Frame: + Reference Frame: odom Value: true - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true - Aruco_0_frame: - Value: true - Aruco_1_frame: - Value: true - Aruco_2_frame: - Value: true CameraBottom_frame: Value: true CameraBottom_optical_frame: @@ -302,12 +296,7 @@ Visualization Manager: {} CameraTop_frame: CameraTop_optical_frame: - Aruco_0_frame: - {} - Aruco_1_frame: - {} - Aruco_2_frame: - {} + {} HeadTouchFront_frame: {} HeadTouchMiddle_frame: @@ -423,7 +412,7 @@ Window Geometry: Height: 459 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000019b000001ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a000001adfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000000000001ad000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000019b000001ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 Selection: collapsed: false Time: diff --git a/launch/rviz_config/nao_right.rviz b/launch/rviz_config/nao_right.rviz index 5e3463b..3bf48ab 100644 --- a/launch/rviz_config/nao_right.rviz +++ b/launch/rviz_config/nao_right.rviz @@ -10,7 +10,7 @@ Panels: - /Grid1/Offset1 - /TF1 Splitter Ratio: 0.5 - Tree Height: 359 + Tree Height: 285 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -49,19 +49,13 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 10 - Reference Frame: + Reference Frame: odom Value: true - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true - Aruco_0_frame: - Value: true - Aruco_1_frame: - Value: true - Aruco_2_frame: - Value: true CameraBottom_frame: Value: true CameraBottom_optical_frame: @@ -302,12 +296,7 @@ Visualization Manager: {} CameraTop_frame: CameraTop_optical_frame: - Aruco_0_frame: - {} - Aruco_1_frame: - {} - Aruco_2_frame: - {} + {} HeadTouchFront_frame: {} HeadTouchMiddle_frame: @@ -400,7 +389,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.11097 + Distance: 1.1627 Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 @@ -412,10 +401,10 @@ Visualization Manager: Z: 0 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.000398204 + Pitch: -0.019602 Target Frame: Value: Orbit (rviz) - Yaw: 4.70541 + Yaw: 4.77541 Saved: ~ Window Geometry: Displays: @@ -423,7 +412,7 @@ Window Geometry: Height: 458 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000014b000001ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a000001acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000000000001ac000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000190000001ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -432,6 +421,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 331 - X: 467 + Width: 400 + X: 457 Y: 14 diff --git a/launch/teleoperation.launch b/launch/teleoperation.launch index 77f9b65..456a32c 100644 --- a/launch/teleoperation.launch +++ b/launch/teleoperation.launch @@ -27,4 +27,7 @@ + + +