From 4843e8d0e5fc3f0f404778b1165673d9d414ff21 Mon Sep 17 00:00:00 2001 From: HRS_D Date: Thu, 24 Jan 2019 14:15:16 +0100 Subject: [PATCH] rviz loads user defined config file at startup --- launch/rviz_config/nao.rviz | 429 ++++++++++++++++++++ launch/rviz_config/nao2.rviz | 767 +++++++++++++++++++++++++++++++++++ launch/teleoperation.launch | 6 +- 3 files changed, 1199 insertions(+), 3 deletions(-) create mode 100644 launch/rviz_config/nao.rviz create mode 100644 launch/rviz_config/nao2.rviz diff --git a/launch/rviz_config/nao.rviz b/launch/rviz_config/nao.rviz new file mode 100644 index 0000000..9033604 --- /dev/null +++ b/launch/rviz_config/nao.rviz @@ -0,0 +1,429 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + - /Grid1/Offset1 + - /TF1 + 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: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + Aruco_2_frame: + Value: true + CameraBottom_frame: + Value: true + CameraBottom_optical_frame: + Value: true + CameraTop_frame: + Value: true + CameraTop_optical_frame: + Value: true + ChestButton_frame: + Value: true + Head: + Value: true + HeadTouchFront_frame: + Value: true + HeadTouchMiddle_frame: + Value: true + HeadTouchRear_frame: + Value: true + ImuTorsoAccelerometer_frame: + Value: true + ImuTorsoGyrometer_frame: + Value: true + LAnklePitch: + Value: true + LBicep: + Value: true + LElbow: + Value: true + LFinger11_link: + Value: true + LFinger12_link: + Value: true + LFinger13_link: + Value: true + LFinger21_link: + Value: true + LFinger22_link: + Value: true + LFinger23_link: + Value: true + LFootBumperLeft_frame: + Value: true + LFootBumperRight_frame: + Value: true + LForeArm: + Value: true + LFsrFL_frame: + Value: true + LFsrFR_frame: + Value: true + LFsrRL_frame: + Value: true + LFsrRR_frame: + Value: true + LHandTouchBack_frame: + Value: true + LHandTouchLeft_frame: + Value: true + LHandTouchRight_frame: + Value: true + LHip: + Value: true + LInfraRed_frame: + Value: true + LPelvis: + Value: true + LShoulder: + Value: true + LSonar_frame: + Value: true + LThigh: + Value: true + LThumb1_link: + Value: true + LThumb2_link: + Value: true + LTibia: + Value: true + MicroFrontCenter_frame: + Value: true + MicroRearCenter_frame: + Value: true + MicroSurroundLeft_frame: + Value: true + MicroSurroundRight_frame: + Value: true + Neck: + Value: true + RAnklePitch: + Value: true + RBicep: + Value: true + RElbow: + Value: true + RFinger11_link: + Value: true + RFinger12_link: + Value: true + RFinger13_link: + Value: true + RFinger21_link: + Value: true + RFinger22_link: + Value: true + RFinger23_link: + Value: true + RFootBumperLeft_frame: + Value: true + RFootBumperRight_frame: + Value: true + RForeArm: + Value: true + RFsrFL_frame: + Value: true + RFsrFR_frame: + Value: true + RFsrRL_frame: + Value: true + RFsrRR_frame: + Value: true + RHandTouchBack_frame: + Value: true + RHandTouchLeft_frame: + Value: true + RHandTouchRight_frame: + Value: true + RHip: + Value: true + RInfraRed_frame: + Value: true + RPelvis: + Value: true + RShoulder: + Value: true + RSonar_frame: + Value: true + RThigh: + Value: true + RThumb1_link: + Value: true + RThumb2_link: + Value: true + RTibia: + Value: true + base_footprint: + Value: true + base_link: + Value: true + gaze: + Value: true + l_ankle: + Value: true + l_gripper: + Value: true + l_sole: + Value: true + l_wrist: + Value: true + odom: + Value: true + r_ankle: + Value: true + r_gripper: + Value: true + r_sole: + Value: true + r_wrist: + Value: true + torso: + Value: true + Marker Scale: 0.1 + Name: TF + Show Arrows: true + Show Axes: false + Show Names: false + 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_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: 1.11097 + 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: 0.300398 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.1404 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 550 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 449 + X: 55 + Y: 14 diff --git a/launch/rviz_config/nao2.rviz b/launch/rviz_config/nao2.rviz new file mode 100644 index 0000000..30fef26 --- /dev/null +++ b/launch/rviz_config/nao2.rviz @@ -0,0 +1,767 @@ +anels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Grid1/Offset1 + - /Sonar_Left1 + - /Sonar_Right1 + - /Image1 + - /Imu1 + Splitter Ratio: 0.476667 + Tree Height: 517 + - 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: true + Name: Time + SyncMode: 2 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 0.1 + Class: rviz/Grid + Color: 141; 141; 141 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0.5 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 36 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + CameraBottom_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + CameraBottom_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + CameraTop_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + CameraTop_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + ChestButton_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HeadTouchFront_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + HeadTouchMiddle_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + HeadTouchRear_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + ImuTorsoAccelerometer_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + ImuTorsoGyrometer_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LAnklePitch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LBicep: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LElbow: + Alpha: 1 + Show Axes: false + Show Trail: false + LFinger11_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger12_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger13_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger21_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger22_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger23_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFootBumperLeft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LFootBumperRight_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LForeArm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFsrFL_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LFsrFR_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LFsrRL_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LFsrRR_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LHandTouchBack_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LHandTouchLeft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LHandTouchRight_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LHip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LInfraRed_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LPelvis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LShoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LSonar_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + LThigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LThumb1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LThumb2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LTibia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + Neck: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RAnklePitch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RBicep: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RElbow: + Alpha: 1 + Show Axes: false + Show Trail: false + RFinger11_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger12_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger13_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger21_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger22_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger23_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFootBumperLeft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RFootBumperRight_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RForeArm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFsrFL_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RFsrFR_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RFsrRL_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RFsrRR_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RHandTouchBack_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RHandTouchLeft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RHandTouchRight_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RHip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RInfraRed_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RPelvis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RShoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RSonar_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + RThigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RThumb1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RThumb2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RTibia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gaze: + Alpha: 1 + Show Axes: false + Show Trail: false + l_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + l_sole: + Alpha: 1 + Show Axes: false + Show Trail: false + l_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + r_sole: + Alpha: 1 + Show Axes: false + Show Trail: false + r_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 1500 + Frames: + All Enabled: false + CameraBottom_frame: + Value: true + CameraBottom_optical_frame: + Value: true + CameraTop_frame: + Value: true + CameraTop_optical_frame: + Value: true + ChestButton_frame: + Value: true + Head: + Value: true + HeadTouchFront_frame: + Value: true + HeadTouchMiddle_frame: + Value: true + HeadTouchRear_frame: + Value: true + ImuTorsoAccelerometer_frame: + Value: true + ImuTorsoGyrometer_frame: + Value: true + LAnklePitch: + Value: true + LBicep: + Value: true + LElbow: + Value: true + LFootBumperLeft_frame: + Value: true + LFootBumperRight_frame: + Value: true + LForeArm: + Value: true + LFsrFL_frame: + Value: true + LFsrFR_frame: + Value: true + LFsrRL_frame: + Value: true + LFsrRR_frame: + Value: true + LHandTouchBack_frame: + Value: true + LHandTouchLeft_frame: + Value: true + LHandTouchRight_frame: + Value: true + LHip: + Value: true + LInfraRed_frame: + Value: true + LPelvis: + Value: true + LShoulder: + Value: true + LSonar_frame: + Value: true + LThigh: + Value: true + LTibia: + Value: true + Neck: + Value: true + RAnklePitch: + Value: true + RBicep: + Value: true + RElbow: + Value: true + RFootBumperLeft_frame: + Value: true + RFootBumperRight_frame: + Value: true + RForeArm: + Value: true + RFsrFL_frame: + Value: true + RFsrFR_frame: + Value: true + RFsrRL_frame: + Value: true + RFsrRR_frame: + Value: true + RHandTouchBack_frame: + Value: true + RHandTouchLeft_frame: + Value: true + RHandTouchRight_frame: + Value: true + RHip: + Value: true + RInfraRed_frame: + Value: true + RPelvis: + Value: true + RShoulder: + Value: true + RSonar_frame: + Value: true + RThigh: + Value: true + RTibia: + Value: true + base_footprint: + Value: true + base_link: + Value: true + gaze: + Value: true + l_ankle: + Value: true + l_gripper: + Value: true + l_sole: + Value: true + l_wrist: + Value: true + odom: + Value: true + r_ankle: + Value: true + r_gripper: + Value: true + r_sole: + Value: true + r_wrist: + Value: true + torso: + Value: true + Marker Scale: 0.1 + Name: TF + Show Arrows: true + Show Axes: true + 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: + LHandTouchBack_frame: + {} + LHandTouchLeft_frame: + {} + LHandTouchRight_frame: + {} + l_gripper: + {} + LSonar_frame: + {} + Neck: + Head: + CameraBottom_frame: + CameraBottom_optical_frame: + {} + CameraTop_frame: + CameraTop_optical_frame: + {} + HeadTouchFront_frame: + {} + HeadTouchMiddle_frame: + {} + HeadTouchRear_frame: + {} + LInfraRed_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: + RHandTouchBack_frame: + {} + RHandTouchLeft_frame: + {} + RHandTouchRight_frame: + {} + r_gripper: + {} + RSonar_frame: + {} + Update Interval: 0 + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_Left + Queue Size: 100 + Topic: /nao_robot/sonar/left + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_Right + Queue Size: 100 + Topic: /nao_robot/sonar/right + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /nao_robot/camera/front/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 0.2 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: true + History Length: 1 + Name: Imu + Topic: /nao_robot/imu/torso + Value: true + Enabled: true + Global Options: + Background Color: 170; 170; 170 + Fixed Frame: base_footprint + 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/XYOrbit + Distance: 1.29287 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.411995 + Y: 0.032867 + Z: -1.41923e-06 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.129797 + Target Frame: + Value: XYOrbit (rviz) + Yaw: 6.23044 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1059 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1918 + X: 1920 +Y: 24 diff --git a/launch/teleoperation.launch b/launch/teleoperation.launch index 8a879de..632be5e 100644 --- a/launch/teleoperation.launch +++ b/launch/teleoperation.launch @@ -11,10 +11,10 @@ Launch file for Teleoperating NAO project - - ?> + @@ -27,6 +27,6 @@ Launch file for Teleoperating NAO project - +