added second rviz window
This commit is contained in:
HRS_D
@@ -56,6 +56,10 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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Aruco_0_frame:
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Value: true
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Aruco_1_frame:
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Value: true
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Aruco_2_frame:
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Value: true
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CameraBottom_frame:
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@@ -298,6 +302,10 @@ Visualization Manager:
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{}
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CameraTop_frame:
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CameraTop_optical_frame:
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Aruco_0_frame:
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{}
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Aruco_1_frame:
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{}
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Aruco_2_frame:
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{}
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HeadTouchFront_frame:
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@@ -412,10 +420,10 @@ Visualization Manager:
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Window Geometry:
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Displays:
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collapsed: false
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Height: 550
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Height: 459
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000001c10000020800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000019b000001ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@@ -424,6 +432,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 449
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Width: 411
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X: 55
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Y: 14
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437
launch/rviz_config/nao_right.rviz
Normal file
437
launch/rviz_config/nao_right.rviz
Normal file
@@ -0,0 +1,437 @@
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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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- /Grid1
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- /Grid1/Offset1
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- /TF1
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Splitter Ratio: 0.5
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Tree Height: 359
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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: 0.588679
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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: ""
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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: 0.03
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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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- 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: true
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Aruco_0_frame:
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Value: true
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Aruco_1_frame:
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Value: true
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Aruco_2_frame:
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Value: true
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CameraBottom_frame:
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Value: true
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CameraBottom_optical_frame:
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Value: true
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CameraTop_frame:
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Value: true
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CameraTop_optical_frame:
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Value: true
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ChestButton_frame:
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Value: true
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Head:
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Value: true
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HeadTouchFront_frame:
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Value: true
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HeadTouchMiddle_frame:
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Value: true
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HeadTouchRear_frame:
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Value: true
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ImuTorsoAccelerometer_frame:
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Value: true
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ImuTorsoGyrometer_frame:
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Value: true
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LAnklePitch:
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Value: true
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LBicep:
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Value: true
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LElbow:
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Value: true
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LFinger11_link:
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Value: true
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LFinger12_link:
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Value: true
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LFinger13_link:
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Value: true
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LFinger21_link:
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Value: true
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LFinger22_link:
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Value: true
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LFinger23_link:
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Value: true
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LFootBumperLeft_frame:
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Value: true
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LFootBumperRight_frame:
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Value: true
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LForeArm:
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Value: true
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LFsrFL_frame:
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Value: true
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LFsrFR_frame:
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Value: true
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LFsrRL_frame:
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Value: true
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LFsrRR_frame:
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Value: true
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LHandTouchBack_frame:
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Value: true
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LHandTouchLeft_frame:
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Value: true
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LHandTouchRight_frame:
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Value: true
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LHip:
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Value: true
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LInfraRed_frame:
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Value: true
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LPelvis:
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Value: true
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LShoulder:
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Value: true
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LSonar_frame:
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Value: true
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LThigh:
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Value: true
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LThumb1_link:
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Value: true
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LThumb2_link:
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Value: true
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LTibia:
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Value: true
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MicroFrontCenter_frame:
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Value: true
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MicroRearCenter_frame:
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Value: true
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MicroSurroundLeft_frame:
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Value: true
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MicroSurroundRight_frame:
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Value: true
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Neck:
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Value: true
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RAnklePitch:
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Value: true
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RBicep:
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Value: true
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RElbow:
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Value: true
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RFinger11_link:
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Value: true
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RFinger12_link:
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Value: true
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RFinger13_link:
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Value: true
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RFinger21_link:
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Value: true
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RFinger22_link:
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Value: true
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RFinger23_link:
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Value: true
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RFootBumperLeft_frame:
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Value: true
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RFootBumperRight_frame:
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Value: true
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RForeArm:
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Value: true
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RFsrFL_frame:
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Value: true
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RFsrFR_frame:
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Value: true
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RFsrRL_frame:
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Value: true
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RFsrRR_frame:
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Value: true
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RHandTouchBack_frame:
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Value: true
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RHandTouchLeft_frame:
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Value: true
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RHandTouchRight_frame:
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Value: true
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RHip:
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Value: true
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RInfraRed_frame:
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Value: true
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RPelvis:
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Value: true
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RShoulder:
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Value: true
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RSonar_frame:
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Value: true
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RThigh:
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Value: true
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RThumb1_link:
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Value: true
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RThumb2_link:
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Value: true
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RTibia:
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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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gaze:
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Value: true
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l_ankle:
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Value: true
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l_gripper:
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Value: true
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l_sole:
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Value: true
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l_wrist:
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Value: true
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odom:
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Value: true
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r_ankle:
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Value: true
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r_gripper:
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Value: true
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r_sole:
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Value: true
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r_wrist:
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Value: true
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torso:
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Value: true
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Marker Scale: 0.1
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Name: TF
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Show Arrows: true
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Show Axes: false
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Show Names: false
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Tree:
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odom:
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base_link:
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base_footprint:
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{}
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torso:
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ChestButton_frame:
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{}
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ImuTorsoAccelerometer_frame:
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{}
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ImuTorsoGyrometer_frame:
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{}
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LPelvis:
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LHip:
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LThigh:
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LTibia:
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LAnklePitch:
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l_ankle:
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LFootBumperLeft_frame:
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{}
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LFootBumperRight_frame:
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{}
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LFsrFL_frame:
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{}
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||||
LFsrFR_frame:
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{}
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LFsrRL_frame:
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{}
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LFsrRR_frame:
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{}
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l_sole:
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{}
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LShoulder:
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||||
LBicep:
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LElbow:
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LForeArm:
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l_wrist:
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||||
LFinger11_link:
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||||
LFinger12_link:
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||||
LFinger13_link:
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{}
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||||
LFinger21_link:
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||||
LFinger22_link:
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||||
LFinger23_link:
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{}
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||||
LHandTouchBack_frame:
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{}
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||||
LHandTouchLeft_frame:
|
||||
{}
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||||
LHandTouchRight_frame:
|
||||
{}
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||||
LThumb1_link:
|
||||
LThumb2_link:
|
||||
{}
|
||||
l_gripper:
|
||||
{}
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||||
LSonar_frame:
|
||||
{}
|
||||
Neck:
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||||
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: 1.11097
|
||||
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: 0.000398204
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.70541
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 458
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000014b000001ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 331
|
||||
X: 467
|
||||
Y: 14
|
||||
@@ -1,32 +1,30 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
Launch file for Teleoperating NAO project
|
||||
|
||||
-->
|
||||
|
||||
<!--Launch file for Teleoperating NAO project-->
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- roscore is automatically started if none exists-->
|
||||
|
||||
<!-- condition for rviz to be started at launch-->
|
||||
<?ignore?>
|
||||
<?ignore
|
||||
<arg name="gui" default="false" />
|
||||
<param name="use_gui" value="$(arg gui)"/>
|
||||
|
||||
?>
|
||||
|
||||
<!-- aruco detector node-->
|
||||
<node pkg="teleoperation" type="aruco_detector" name="aruco_detector_node"/>
|
||||
<node name="aruco_detector" pkg="teleoperation" type="aruco_detector"/>
|
||||
|
||||
<!-- aruco effector node, currently commented out-->
|
||||
<?ignore
|
||||
<node pkg="teleoperation" type="aruco_effector" name="aruco_detector_node"/>
|
||||
<node name="aruco_effector" pkg="teleoperation" type="aruco_effector"/>
|
||||
?>
|
||||
|
||||
<!-- speech recognition and response node-->
|
||||
<node pkg="teleoperation" type="speech" name="speech_node"/>
|
||||
<node name="speech" pkg="teleoperation" type="speech"/>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/nao.rviz" required = "true"/>
|
||||
<!-- open rviz window showing nao -->
|
||||
<node name="rviz_back" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/nao.rviz"/>
|
||||
|
||||
<!-- open rviz window showing nao from its right side -->
|
||||
<node name="rviz_right" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/nao_right.rviz"/>
|
||||
|
||||
</launch>
|
||||
|
||||
@@ -8,11 +8,11 @@ commands=(
|
||||
# Start roscore
|
||||
'cd ~/catkin_ws;source devel/setup.bash ;roscore'
|
||||
# Bringup Nao
|
||||
'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
|
||||
'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch'
|
||||
# Start speech recognition server
|
||||
'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
|
||||
# Launch nodes in teleoperation package
|
||||
'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch gui:=false'
|
||||
'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
|
||||
)
|
||||
|
||||
# Build final command with all the tabs to launch
|
||||
|
||||
Reference in New Issue
Block a user