merged with lukas
This commit is contained in:
Pavel Lutskov
3
.gitignore
vendored
3
.gitignore
vendored
@@ -9,3 +9,6 @@ experiments.py
|
||||
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# Gedit stuff
|
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*~
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||||
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||||
# Ignore PDFs on master
|
||||
literature/
|
||||
|
||||
438
launch/rviz_config/human.rviz
Normal file
438
launch/rviz_config/human.rviz
Normal file
@@ -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: <Fixed 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
|
||||
426
launch/rviz_config/nao.rviz
Normal file
426
launch/rviz_config/nao.rviz
Normal file
@@ -0,0 +1,426 @@
|
||||
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: 286
|
||||
- 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: 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:
|
||||
{}
|
||||
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: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.1404
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 459
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000001adfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000000000001ad000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000019b000001ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 411
|
||||
X: 55
|
||||
Y: 14
|
||||
767
launch/rviz_config/nao2.rviz
Normal file
767
launch/rviz_config/nao2.rviz
Normal file
@@ -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: <Fixed 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: <Fixed 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: 000000ff00000000fd0000000400000000000002830000038ffc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003600000290000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002cc000000f90000001600fffffffb0000000c00430061006d00650072006101000003af000000160000000000000000fb0000000a0049006d00610067006501000001ea000001db0000000000000000000000010000010f0000038ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000360000038f0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002c700fffffffb0000000800540069006d00650100000000000004500000000000000000000004f50000038f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1918
|
||||
X: 1920
|
||||
Y: 24
|
||||
426
launch/rviz_config/nao_right.rviz
Normal file
426
launch/rviz_config/nao_right.rviz
Normal file
@@ -0,0 +1,426 @@
|
||||
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: 285
|
||||
- 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: 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:
|
||||
{}
|
||||
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: 1.1627
|
||||
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: -0.019602
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.77541
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 458
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000001acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000000000001ac000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000190000001ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 400
|
||||
X: 457
|
||||
Y: 14
|
||||
@@ -1,32 +1,31 @@
|
||||
<?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
|
||||
<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" 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"/>
|
||||
|
||||
<!-- open rviz window showing human -->
|
||||
<node name="rviz_human" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/human.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 3;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
|
||||
'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
|
||||
# Launch nodes in teleoperation package
|
||||
'sleep 5;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
|
||||
'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
|
||||
)
|
||||
|
||||
# Build final command with all the tabs to launch
|
||||
|
||||
@@ -11,7 +11,6 @@
|
||||
#include <opencv2/video/tracking.hpp>
|
||||
#include <aruco/aruco.h>
|
||||
|
||||
// static const std::string OPENCV_WINDOW = "Original image";
|
||||
static const std::string ARUCO_WINDOW = "Aruco window";
|
||||
|
||||
class ImageConverter {
|
||||
@@ -31,13 +30,11 @@ class ImageConverter {
|
||||
&ImageConverter::imageCb, this);
|
||||
|
||||
// Create output windows
|
||||
// cv::namedWindow(OPENCV_WINDOW);
|
||||
cv::namedWindow(ARUCO_WINDOW);
|
||||
}
|
||||
|
||||
~ImageConverter() {
|
||||
// Clean Up
|
||||
// cv::destroyWindow(OPENCV_WINDOW);
|
||||
cv::destroyWindow(ARUCO_WINDOW);
|
||||
}
|
||||
|
||||
@@ -55,9 +52,6 @@ class ImageConverter {
|
||||
return;
|
||||
}
|
||||
|
||||
// Output Original Image (bcs y not)
|
||||
// cv::imshow(OPENCV_WINDOW, cv_ptr->image);
|
||||
|
||||
// Do Aruco
|
||||
cv::Mat cam_mat = (cv::Mat_<double>(3, 3) <<
|
||||
690., 0.0, 320,
|
||||
|
||||
@@ -182,8 +182,9 @@ public:
|
||||
void commandRecognition()
|
||||
{
|
||||
//recognition has to be started and ended once a valid command was found
|
||||
|
||||
initializeVocabulary();
|
||||
this->initializeVocabulary();
|
||||
ros::Rate loop_rate(1);
|
||||
loop_rate.sleep();
|
||||
std_srvs::Empty srv;
|
||||
|
||||
if (recog_start_srv.call(srv)) {
|
||||
@@ -199,7 +200,8 @@ int main(int argc, char** argv) {
|
||||
ros::init(argc, argv, "speech");
|
||||
|
||||
Nao_control TermiNAOtor;
|
||||
ros::Rate loop_rate(0.5);
|
||||
//TermiNAOtor.initializeVocabulary();
|
||||
ros::Rate loop_rate(1);
|
||||
loop_rate.sleep();
|
||||
TermiNAOtor.commandRecognition();
|
||||
ROS_INFO("SPIN");
|
||||
|
||||
Reference in New Issue
Block a user