├── README.md ├── ROS project.pdf ├── navigation_package ├── CMakeLists.txt ├── package.xml └── scripts │ └── test2.py ├── turtlebot3_gazebo └── launch │ ├── turtlebot3_world_master.launch │ ├── turtlebot3_world_multi.launch │ ├── turtlebot3_world_tb3_0.launch │ ├── turtlebot3_world_tb3_0_machine_0.launch │ ├── turtlebot3_world_tb3_1.launch │ └── turtlebot3_world_tb3_1_machine_1.launch └── turtlebot3_navigation ├── RViz ├── turtlebot3_navigation_multi.rviz ├── turtlebot3_navigation_tb3_0.rviz └── turtlebot3_navigation_tb3_1.rviz └── launch ├── amcl_tb3_0.launch ├── amcl_tb3_1.launch ├── move_base_tb3_0.launch ├── move_base_tb3_1.launch ├── turtlebot3_navigation_multi.launch ├── turtlebot3_navigation_tb3_0.launch └── turtlebot3_navigation_tb3_1.launch /README.md: -------------------------------------------------------------------------------- 1 | # Multiple Turtlebot3 navigation 2 | Hi everyone, this is a university project I developed with my colleagues Dario Di Domenico, Daniele Gianfagna and Mauro Martini about multiple robot navigation and simulation across multiple machines. 3 | 4 | ## Project goals 5 | 1. Simulation of multiple robot navigation on a single machine. Spawn two Turtlebot3 on a single map and launch the navigation for both. 6 | 2. Creation of a node able to send only the closest robot to a specific goal. Python node that given a generic goal defined in RViz is able to understand which is the closest tb3 to that goal and to send it to that position. 7 | 3. Simulation of multiple robot navigation across 3 different PCs. 8 | 9 | ## Documentation 10 | All the documentation, with guides, some theoretical issue, troubleshooting ecc. can be found in the PDF file in the repository. 11 | 12 | ## How to directly use our catkin workspace 13 | To run our launch files and our node, there are two possibilities: 14 | 1. Follow the complete procedure that you can find in the PDF file under the paragraph named: “Complete manual procedure”. 15 | 2. Add manually the entire src folder, perform a catkin_make and start using our node and packages. 16 | 17 | This is the explanation of the second method (the fastest): 18 | 1. Remove the already existing catkin workspace (or rename it to not lose it): 19 | 20 | $ rm -r ~/catkin_ws 21 | 22 | **If you already have projects into the catkin_ws directory please do not remove the catkin_ws, only rename it.** 23 | 24 | 2. Download from our GitHub page the catkin_ws directory with the source folder only: 25 | 26 | https://drive.google.com/open?id=1G6ECFKyCK7Ljf4G8wbdKDaSupjOf6l3s 27 | 28 | 3. Copy it to the “Home” directory of Ubuntu. 29 | 4. Open a new terminal and launch: 30 | 31 | $ source ~/catkin_ws/devel/setup.bash 32 | 33 | 5. Change the directory: 34 | 35 | $ cd ~/catkin_ws 36 | 37 | 6. Do a catkin_make: 38 | 39 | $ catkin_make 40 | 41 | 42 | If the catkin_make didn’t report any trouble, you are ready to use all our packages. You will find all the step inside the PDF file under the paragraph “Running multiple robots with our modified launch files”. 43 | 44 | Thank you for the attention. 45 | -------------------------------------------------------------------------------- /ROS project.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/francimala/ROS_multiple_navigation/328204674f28e3afb3d65d84e1271bb5ce71b502/ROS project.pdf -------------------------------------------------------------------------------- /navigation_package/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(navigation_package) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | actionlib 12 | move_base_msgs 13 | rospy 14 | ) 15 | 16 | ## System dependencies are found with CMake's conventions 17 | # find_package(Boost REQUIRED COMPONENTS system) 18 | 19 | 20 | ## Uncomment this if the package has a setup.py. This macro ensures 21 | ## modules and global scripts declared therein get installed 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 23 | # catkin_python_setup() 24 | 25 | ################################################ 26 | ## Declare ROS messages, services and actions ## 27 | ################################################ 28 | 29 | ## To declare and build messages, services or actions from within this 30 | ## package, follow these steps: 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 33 | ## * In the file package.xml: 34 | ## * add a build_depend tag for "message_generation" 35 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 37 | ## but can be declared for certainty nonetheless: 38 | ## * add a exec_depend tag for "message_runtime" 39 | ## * In this file (CMakeLists.txt): 40 | ## * add "message_generation" and every package in MSG_DEP_SET to 41 | ## find_package(catkin REQUIRED COMPONENTS ...) 42 | ## * add "message_runtime" and every package in MSG_DEP_SET to 43 | ## catkin_package(CATKIN_DEPENDS ...) 44 | ## * uncomment the add_*_files sections below as needed 45 | ## and list every .msg/.srv/.action file to be processed 46 | ## * uncomment the generate_messages entry below 47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 48 | 49 | ## Generate messages in the 'msg' folder 50 | # add_message_files( 51 | # FILES 52 | # Message1.msg 53 | # Message2.msg 54 | # ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | # generate_messages( 72 | # DEPENDENCIES 73 | # move_base_msgs 74 | # ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if your package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES navigation_package 108 | # CATKIN_DEPENDS actionlib move_base_msgs rospy 109 | # DEPENDS system_lib 110 | ) 111 | 112 | ########### 113 | ## Build ## 114 | ########### 115 | 116 | ## Specify additional locations of header files 117 | ## Your package locations should be listed before other locations 118 | include_directories( 119 | # include 120 | ${catkin_INCLUDE_DIRS} 121 | ) 122 | 123 | ## Declare a C++ library 124 | # add_library(${PROJECT_NAME} 125 | # src/${PROJECT_NAME}/navigation_package.cpp 126 | # ) 127 | 128 | ## Add cmake target dependencies of the library 129 | ## as an example, code may need to be generated before libraries 130 | ## either from message generation or dynamic reconfigure 131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Declare a C++ executable 134 | ## With catkin_make all packages are built within a single CMake context 135 | ## The recommended prefix ensures that target names across packages don't collide 136 | # add_executable(${PROJECT_NAME}_node src/navigation_package_node.cpp) 137 | 138 | ## Rename C++ executable without prefix 139 | ## The above recommended prefix causes long target names, the following renames the 140 | ## target back to the shorter version for ease of user use 141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 143 | 144 | ## Add cmake target dependencies of the executable 145 | ## same as for the library above 146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | 148 | ## Specify libraries to link a library or executable target against 149 | # target_link_libraries(${PROJECT_NAME}_node 150 | # ${catkin_LIBRARIES} 151 | # ) 152 | 153 | ############# 154 | ## Install ## 155 | ############# 156 | 157 | # all install targets should use catkin DESTINATION variables 158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 159 | 160 | ## Mark executable scripts (Python etc.) for installation 161 | ## in contrast to setup.py, you can choose the destination 162 | # install(PROGRAMS 163 | # scripts/my_python_script 164 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 165 | # ) 166 | 167 | ## Mark executables and/or libraries for installation 168 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 169 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 170 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 171 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 172 | # ) 173 | 174 | ## Mark cpp header files for installation 175 | # install(DIRECTORY include/${PROJECT_NAME}/ 176 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 177 | # FILES_MATCHING PATTERN "*.h" 178 | # PATTERN ".svn" EXCLUDE 179 | # ) 180 | 181 | ## Mark other files for installation (e.g. launch and bag files, etc.) 182 | # install(FILES 183 | # # myfile1 184 | # # myfile2 185 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 186 | # ) 187 | 188 | ############# 189 | ## Testing ## 190 | ############# 191 | 192 | ## Add gtest based cpp test target and link libraries 193 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_navigation_package.cpp) 194 | # if(TARGET ${PROJECT_NAME}-test) 195 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 196 | # endif() 197 | 198 | ## Add folders to be run by python nosetests 199 | # catkin_add_nosetests(test) 200 | -------------------------------------------------------------------------------- /navigation_package/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | navigation_package 4 | 0.0.0 5 | The navigation_package package 6 | 7 | 8 | 9 | 10 | francesco 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | actionlib 53 | move_base_msgs 54 | rospy 55 | actionlib 56 | move_base_msgs 57 | rospy 58 | actionlib 59 | move_base_msgs 60 | rospy 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /navigation_package/scripts/test2.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import math 5 | from geometry_msgs.msg import PoseStamped 6 | from nav_msgs.msg import Odometry 7 | 8 | global position_tb3_0_x 9 | global position_tb3_0_y 10 | global position_tb3_1_x 11 | global position_tb3_1_y 12 | global goal_publisher0 13 | global goal_publisher1 14 | 15 | goal_publisher0 = rospy.Publisher("tb3_0/move_base_simple/goal", PoseStamped, queue_size=5) 16 | goal_publisher1 = rospy.Publisher("tb3_1/move_base_simple/goal", PoseStamped, queue_size=5) 17 | 18 | def callback0(msg): 19 | #print("Executing callback0") 20 | 21 | global position_tb3_0_x 22 | global position_tb3_0_y 23 | 24 | position_tb3_0 = msg.pose.pose.position 25 | quat_tb3_0 = msg.pose.pose.orientation 26 | position_tb3_0_x = position_tb3_0.x 27 | position_tb3_0_y = position_tb3_0.y 28 | 29 | def callback1(msg): 30 | #print("Executing callback1") 31 | 32 | global position_tb3_1_x 33 | global position_tb3_1_y 34 | 35 | position_tb3_1 = msg.pose.pose.position 36 | quat_tb3_1 = msg.pose.pose.orientation 37 | position_tb3_1_x = position_tb3_1.x 38 | position_tb3_1_y = position_tb3_1.y 39 | 40 | def callback(goal): 41 | #print("Executing callback") 42 | 43 | global position_tb3_0_x 44 | global position_tb3_0_y 45 | global position_tb3_1_x 46 | global position_tb3_1_y 47 | global goal_publisher0 48 | global goal_publisher1 49 | 50 | goal_position_x = goal.pose.position.x 51 | goal_position_y = goal.pose.position.y 52 | 53 | x_distance_tb3_0 = goal_position_x-position_tb3_0_x 54 | y_distance_tb3_0 = goal_position_y-position_tb3_0_y 55 | total_distance_tb3_0 = math.sqrt((x_distance_tb3_0**2)+(y_distance_tb3_0**2)) 56 | 57 | print("tb3_0 distance:") 58 | print(total_distance_tb3_0) 59 | 60 | x_distance_tb3_1 = goal_position_x-position_tb3_1_x 61 | y_distance_tb3_1 = goal_position_y-position_tb3_1_y 62 | total_distance_tb3_1 = math.sqrt((x_distance_tb3_1**2)+(y_distance_tb3_1**2)) 63 | 64 | print("tb3_1 distance:") 65 | print(total_distance_tb3_1) 66 | 67 | if (total_distance_tb3_1>total_distance_tb3_0): 68 | goal_publisher0.publish(goal) 69 | print("CHECK 1") 70 | 71 | elif (total_distance_tb3_1 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_world_multi.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_world_tb3_0.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_world_tb3_0_machine_0.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_world_tb3_1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /turtlebot3_gazebo/launch/turtlebot3_world_tb3_1_machine_1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /turtlebot3_navigation/RViz/turtlebot3_navigation_multi.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /RobotModel_tb3_01/Links1 8 | - /TF1/Frames1 9 | - /TF1/Tree1 10 | - /Global Map1/Costmap1 11 | - /Global Map1/Planner1 12 | - /Local Map1/Polygon1 13 | - /Local Map1/Costmap1 14 | - /Local Map1/Planner1 15 | - /Goal_tb3_01 16 | - /Goal_tb3_11 17 | Splitter Ratio: 0.5473440885543823 18 | Tree Height: 455 19 | - Class: rviz/Selection 20 | Name: Selection 21 | - Class: rviz/Tool Properties 22 | Expanded: 23 | - /2D Pose Estimate1 24 | - /2D Nav Goal1 25 | - /2D Pose Estimate2 26 | - /2D Nav Goal2 27 | - /2D Nav Goal3 28 | Name: Tool Properties 29 | Splitter Ratio: 0.5886790156364441 30 | - Class: rviz/Views 31 | Expanded: 32 | - /Current View1 33 | Name: Views 34 | Splitter Ratio: 0.5 35 | - Class: rviz/Time 36 | Experimental: false 37 | Name: Time 38 | SyncMode: 0 39 | SyncSource: LaserScan_tb3_1 40 | Preferences: 41 | PromptSaveOnExit: true 42 | Toolbars: 43 | toolButtonStyle: 2 44 | Visualization Manager: 45 | Class: "" 46 | Displays: 47 | - Alpha: 0.5 48 | Cell Size: 1 49 | Class: rviz/Grid 50 | Color: 160; 160; 164 51 | Enabled: true 52 | Line Style: 53 | Line Width: 0.029999999329447746 54 | Value: Lines 55 | Name: Grid 56 | Normal Cell Count: 0 57 | Offset: 58 | X: 0 59 | Y: 0 60 | Z: 0 61 | Plane: XY 62 | Plane Cell Count: 20 63 | Reference Frame: 64 | Value: true 65 | - Alpha: 1 66 | Class: rviz/RobotModel 67 | Collision Enabled: false 68 | Enabled: true 69 | Links: 70 | All Links Enabled: true 71 | Expand Joint Details: false 72 | Expand Link Details: false 73 | Expand Tree: false 74 | Link Tree Style: Links in Alphabetic Order 75 | Name: RobotModel_tb3_0 76 | Robot Description: tb3_0/robot_description 77 | TF Prefix: tb3_0 78 | Update Interval: 0 79 | Value: true 80 | Visual Enabled: true 81 | - Alpha: 1 82 | Class: rviz/RobotModel 83 | Collision Enabled: false 84 | Enabled: true 85 | Links: 86 | All Links Enabled: true 87 | Expand Joint Details: false 88 | Expand Link Details: false 89 | Expand Tree: false 90 | Link Tree Style: Links in Alphabetic Order 91 | Name: RobotModel_tb3_1 92 | Robot Description: tb3_1/robot_description 93 | TF Prefix: tb3_1 94 | Update Interval: 0 95 | Value: true 96 | Visual Enabled: true 97 | - Class: rviz/TF 98 | Enabled: false 99 | Frame Timeout: 15 100 | Frames: 101 | All Enabled: false 102 | Marker Scale: 1 103 | Name: TF 104 | Show Arrows: true 105 | Show Axes: true 106 | Show Names: false 107 | Tree: 108 | {} 109 | Update Interval: 0 110 | Value: false 111 | - Alpha: 1 112 | Autocompute Intensity Bounds: true 113 | Autocompute Value Bounds: 114 | Max Value: 10 115 | Min Value: -10 116 | Value: true 117 | Axis: Z 118 | Channel Name: intensity 119 | Class: rviz/LaserScan 120 | Color: 0; 255; 0 121 | Color Transformer: FlatColor 122 | Decay Time: 0 123 | Enabled: true 124 | Invert Rainbow: false 125 | Max Color: 255; 255; 255 126 | Max Intensity: 13069 127 | Min Color: 0; 0; 0 128 | Min Intensity: 28 129 | Name: LaserScan_tb3_0 130 | Position Transformer: XYZ 131 | Queue Size: 10 132 | Selectable: true 133 | Size (Pixels): 3 134 | Size (m): 0.030000001192092896 135 | Style: Flat Squares 136 | Topic: /tb3_0/scan 137 | Unreliable: false 138 | Use Fixed Frame: true 139 | Use rainbow: true 140 | Value: true 141 | - Class: rviz/Image 142 | Enabled: false 143 | Image Topic: /raspicam_node/image 144 | Max Value: 1 145 | Median window: 5 146 | Min Value: 0 147 | Name: Image 148 | Normalize Range: true 149 | Queue Size: 2 150 | Transport Hint: compressed 151 | Unreliable: false 152 | Value: false 153 | - Alpha: 0.699999988079071 154 | Class: rviz/Map 155 | Color Scheme: map 156 | Draw Behind: false 157 | Enabled: true 158 | Name: Map 159 | Topic: /map 160 | Unreliable: false 161 | Use Timestamp: false 162 | Value: true 163 | - Alpha: 1 164 | Buffer Length: 1 165 | Class: rviz/Path 166 | Color: 0; 0; 0 167 | Enabled: true 168 | Head Diameter: 0.30000001192092896 169 | Head Length: 0.20000000298023224 170 | Length: 0.30000001192092896 171 | Line Style: Lines 172 | Line Width: 0.029999999329447746 173 | Name: Planner Plan 174 | Offset: 175 | X: 0 176 | Y: 0 177 | Z: 0 178 | Pose Color: 255; 85; 255 179 | Pose Style: None 180 | Radius: 0.029999999329447746 181 | Shaft Diameter: 0.10000000149011612 182 | Shaft Length: 0.10000000149011612 183 | Topic: tb3_0/move_base/NavfnROS/plan 184 | Unreliable: false 185 | Value: true 186 | - Class: rviz/Group 187 | Displays: 188 | - Alpha: 0.699999988079071 189 | Class: rviz/Map 190 | Color Scheme: costmap 191 | Draw Behind: true 192 | Enabled: true 193 | Name: Costmap 194 | Topic: /tb3_0/map 195 | Unreliable: false 196 | Use Timestamp: false 197 | Value: true 198 | - Alpha: 1 199 | Buffer Length: 1 200 | Class: rviz/Path 201 | Color: 255; 0; 0 202 | Enabled: true 203 | Head Diameter: 0.30000001192092896 204 | Head Length: 0.20000000298023224 205 | Length: 0.30000001192092896 206 | Line Style: Lines 207 | Line Width: 0.029999999329447746 208 | Name: Planner 209 | Offset: 210 | X: 0 211 | Y: 0 212 | Z: 0 213 | Pose Color: 255; 85; 255 214 | Pose Style: None 215 | Radius: 0.029999999329447746 216 | Shaft Diameter: 0.10000000149011612 217 | Shaft Length: 0.10000000149011612 218 | Topic: tb3_0/move_base/DWAPlannerROS/global_plan 219 | Unreliable: false 220 | Value: true 221 | Enabled: true 222 | Name: Global Map 223 | - Class: rviz/Group 224 | Displays: 225 | - Alpha: 1 226 | Class: rviz/Polygon 227 | Color: 0; 0; 0 228 | Enabled: true 229 | Name: Polygon 230 | Topic: tb3_0/move_base/local_costmap/footprint 231 | Unreliable: false 232 | Value: true 233 | - Alpha: 0.699999988079071 234 | Class: rviz/Map 235 | Color Scheme: costmap 236 | Draw Behind: false 237 | Enabled: true 238 | Name: Costmap 239 | Topic: /tb3_0/move_base/local_costmap/costmap 240 | Unreliable: false 241 | Use Timestamp: false 242 | Value: true 243 | - Alpha: 1 244 | Buffer Length: 1 245 | Class: rviz/Path 246 | Color: 255; 255; 0 247 | Enabled: true 248 | Head Diameter: 0.30000001192092896 249 | Head Length: 0.20000000298023224 250 | Length: 0.30000001192092896 251 | Line Style: Lines 252 | Line Width: 0.029999999329447746 253 | Name: Planner 254 | Offset: 255 | X: 0 256 | Y: 0 257 | Z: 0 258 | Pose Color: 255; 85; 255 259 | Pose Style: None 260 | Radius: 0.029999999329447746 261 | Shaft Diameter: 0.10000000149011612 262 | Shaft Length: 0.10000000149011612 263 | Topic: tb3_0/move_base/DWAPlannerROS/local_plan 264 | Unreliable: false 265 | Value: true 266 | Enabled: true 267 | Name: Local Map 268 | - Alpha: 1 269 | Arrow Length: 0.05000000074505806 270 | Axes Length: 0.30000001192092896 271 | Axes Radius: 0.009999999776482582 272 | Class: rviz/PoseArray 273 | Color: 0; 192; 0 274 | Enabled: true 275 | Head Length: 0.07000000029802322 276 | Head Radius: 0.029999999329447746 277 | Name: Amcl Particles 278 | Shaft Length: 0.23000000417232513 279 | Shaft Radius: 0.009999999776482582 280 | Shape: Arrow (Flat) 281 | Topic: tb3_0/particlecloud 282 | Unreliable: false 283 | Value: true 284 | - Alpha: 1 285 | Class: rviz/Polygon 286 | Color: 25; 255; 0 287 | Enabled: true 288 | Name: Polygon 289 | Topic: tb3_1/move_base/local_costmap/footprint 290 | Unreliable: false 291 | Value: true 292 | - Alpha: 1 293 | Axes Length: 1 294 | Axes Radius: 0.10000000149011612 295 | Class: rviz/Pose 296 | Color: 255; 25; 0 297 | Enabled: true 298 | Head Length: 0.30000001192092896 299 | Head Radius: 0.10000000149011612 300 | Name: Goal_tb3_0 301 | Shaft Length: 1 302 | Shaft Radius: 0.05000000074505806 303 | Shape: Arrow 304 | Topic: /tb3_0/move_base_simple/goal 305 | Unreliable: false 306 | Value: true 307 | - Alpha: 1 308 | Autocompute Intensity Bounds: true 309 | Autocompute Value Bounds: 310 | Max Value: 10 311 | Min Value: -10 312 | Value: true 313 | Axis: Z 314 | Channel Name: intensity 315 | Class: rviz/LaserScan 316 | Color: 255; 255; 255 317 | Color Transformer: Intensity 318 | Decay Time: 0 319 | Enabled: true 320 | Invert Rainbow: false 321 | Max Color: 255; 255; 255 322 | Max Intensity: 0 323 | Min Color: 0; 0; 0 324 | Min Intensity: 0 325 | Name: LaserScan_tb3_1 326 | Position Transformer: XYZ 327 | Queue Size: 10 328 | Selectable: true 329 | Size (Pixels): 3 330 | Size (m): 0.029999999329447746 331 | Style: Flat Squares 332 | Topic: /tb3_1/scan 333 | Unreliable: false 334 | Use Fixed Frame: true 335 | Use rainbow: true 336 | Value: true 337 | - Alpha: 1 338 | Axes Length: 1 339 | Axes Radius: 0.10000000149011612 340 | Class: rviz/Pose 341 | Color: 255; 25; 0 342 | Enabled: true 343 | Head Length: 0.30000001192092896 344 | Head Radius: 0.10000000149011612 345 | Name: Goal_tb3_1 346 | Shaft Length: 1 347 | Shaft Radius: 0.05000000074505806 348 | Shape: Arrow 349 | Topic: /tb3_1/move_base_simple/goal 350 | Unreliable: false 351 | Value: true 352 | - Alpha: 1 353 | Arrow Length: 0.05000000074505806 354 | Axes Length: 0.30000001192092896 355 | Axes Radius: 0.009999999776482582 356 | Class: rviz/PoseArray 357 | Color: 255; 25; 0 358 | Enabled: true 359 | Head Length: 0.07000000029802322 360 | Head Radius: 0.029999999329447746 361 | Name: PoseArray 362 | Shaft Length: 0.23000000417232513 363 | Shaft Radius: 0.009999999776482582 364 | Shape: Arrow (Flat) 365 | Topic: /tb3_1/particlecloud 366 | Unreliable: false 367 | Value: true 368 | - Alpha: 1 369 | Axes Length: 1 370 | Axes Radius: 0.10000000149011612 371 | Class: rviz/Pose 372 | Color: 255; 25; 0 373 | Enabled: true 374 | Head Length: 0.30000001192092896 375 | Head Radius: 0.10000000149011612 376 | Name: Target_goal 377 | Shaft Length: 1 378 | Shaft Radius: 0.05000000074505806 379 | Shape: Arrow 380 | Topic: /move_base_simple/goal 381 | Unreliable: false 382 | Value: true 383 | - Alpha: 1 384 | Buffer Length: 1 385 | Class: rviz/Path 386 | Color: 0; 0; 0 387 | Enabled: true 388 | Head Diameter: 0.30000001192092896 389 | Head Length: 0.20000000298023224 390 | Length: 0.30000001192092896 391 | Line Style: Lines 392 | Line Width: 0.029999999329447746 393 | Name: Path_tb3_1 394 | Offset: 395 | X: 0 396 | Y: 0 397 | Z: 0 398 | Pose Color: 255; 85; 255 399 | Pose Style: None 400 | Radius: 0.029999999329447746 401 | Shaft Diameter: 0.10000000149011612 402 | Shaft Length: 0.10000000149011612 403 | Topic: /tb3_1/move_base/NavfnROS/plan 404 | Unreliable: false 405 | Value: true 406 | - Alpha: 1 407 | Buffer Length: 1 408 | Class: rviz/Path 409 | Color: 25; 255; 0 410 | Enabled: true 411 | Head Diameter: 0.30000001192092896 412 | Head Length: 0.20000000298023224 413 | Length: 0.30000001192092896 414 | Line Style: Lines 415 | Line Width: 0.029999999329447746 416 | Name: Path 417 | Offset: 418 | X: 0 419 | Y: 0 420 | Z: 0 421 | Pose Color: 255; 85; 255 422 | Pose Style: None 423 | Radius: 0.029999999329447746 424 | Shaft Diameter: 0.10000000149011612 425 | Shaft Length: 0.10000000149011612 426 | Topic: tb3_1/move_base/DWAPlannerROS/local_plan 427 | Unreliable: false 428 | Value: true 429 | Enabled: true 430 | Global Options: 431 | Background Color: 48; 48; 48 432 | Default Light: true 433 | Fixed Frame: map 434 | Frame Rate: 30 435 | Name: root 436 | Tools: 437 | - Class: rviz/MoveCamera 438 | - Class: rviz/Interact 439 | Hide Inactive Objects: true 440 | - Class: rviz/Select 441 | - Class: rviz/SetInitialPose 442 | Theta std deviation: 0.2617993950843811 443 | Topic: /tb3_0/initialpose 444 | X std deviation: 0.5 445 | Y std deviation: 0.5 446 | - Class: rviz/SetGoal 447 | Topic: /tb3_0/move_base_simple/goal 448 | - Class: rviz/SetInitialPose 449 | Theta std deviation: 0.2617993950843811 450 | Topic: /tb3_1/initialpose 451 | X std deviation: 0.5 452 | Y std deviation: 0.5 453 | - Class: rviz/SetGoal 454 | Topic: /tb3_1/move_base_simple/goal 455 | - Class: rviz/SetGoal 456 | Topic: /move_base_simple/goal 457 | - Class: rviz/Measure 458 | Value: true 459 | Views: 460 | Current: 461 | Angle: -7.7658185958862305 462 | Class: rviz/TopDownOrtho 463 | Enable Stereo Rendering: 464 | Stereo Eye Separation: 0.05999999865889549 465 | Stereo Focal Distance: 1 466 | Swap Stereo Eyes: false 467 | Value: false 468 | Invert Z Axis: false 469 | Name: Current View 470 | Near Clip Distance: 0.009999999776482582 471 | Scale: 99.82530975341797 472 | Target Frame: 473 | Value: TopDownOrtho (rviz) 474 | X: 0.10854511708021164 475 | Y: -0.2040543109178543 476 | Saved: ~ 477 | Window Geometry: 478 | Displays: 479 | collapsed: false 480 | Height: 713 481 | Hide Left Dock: false 482 | Hide Right Dock: true 483 | Image: 484 | collapsed: false 485 | QMainWindow State: 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486 | Selection: 487 | collapsed: false 488 | Time: 489 | collapsed: false 490 | Tool Properties: 491 | collapsed: false 492 | Views: 493 | collapsed: true 494 | Width: 1307 495 | X: 59 496 | Y: 27 497 | -------------------------------------------------------------------------------- /turtlebot3_navigation/RViz/turtlebot3_navigation_tb3_0.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | - /RobotModel1/Links1 11 | - /TF1/Frames1 12 | - /TF1/Tree1 13 | - /LaserScan1 14 | - /Planner Plan1 15 | - /Global Map1 16 | - /Global Map1/Costmap1 17 | - /Global Map1/Costmap1/Status1 18 | - /Global Map1/Planner1 19 | - /Local Map1 20 | - /Local Map1/Polygon1 21 | - /Local Map1/Costmap1 22 | - /Local Map1/Planner1 23 | - /Amcl Particles1 24 | - /Goal1 25 | - /Path1 26 | Splitter Ratio: 0.5 27 | Tree Height: 484 28 | - Class: rviz/Selection 29 | Name: Selection 30 | - Class: rviz/Tool Properties 31 | Expanded: 32 | - /2D Pose Estimate1 33 | - /2D Nav Goal1 34 | Name: Tool Properties 35 | Splitter Ratio: 0.5886790156364441 36 | - Class: rviz/Views 37 | Expanded: 38 | - /Current View1 39 | Name: Views 40 | Splitter Ratio: 0.5 41 | - Class: rviz/Time 42 | Experimental: false 43 | Name: Time 44 | SyncMode: 0 45 | SyncSource: LaserScan 46 | Preferences: 47 | PromptSaveOnExit: true 48 | Toolbars: 49 | toolButtonStyle: 2 50 | Visualization Manager: 51 | Class: "" 52 | Displays: 53 | - Alpha: 0.5 54 | Cell Size: 1 55 | Class: rviz/Grid 56 | Color: 160; 160; 164 57 | Enabled: true 58 | Line Style: 59 | Line Width: 0.029999999329447746 60 | Value: Lines 61 | Name: Grid 62 | Normal Cell Count: 0 63 | Offset: 64 | X: 0 65 | Y: 0 66 | Z: 0 67 | Plane: XY 68 | Plane Cell Count: 20 69 | Reference Frame: 70 | Value: true 71 | - Alpha: 1 72 | Class: rviz/RobotModel 73 | Collision Enabled: false 74 | Enabled: true 75 | Links: 76 | All Links Enabled: true 77 | Expand Joint Details: false 78 | Expand Link Details: false 79 | Expand Tree: false 80 | Link Tree Style: Links in Alphabetic Order 81 | Name: RobotModel 82 | Robot Description: tb3_0/robot_description 83 | TF Prefix: tb3_0 84 | Update Interval: 0 85 | Value: true 86 | Visual Enabled: true 87 | - Alpha: 1 88 | Class: rviz/RobotModel 89 | Collision Enabled: false 90 | Enabled: true 91 | Links: 92 | All Links Enabled: true 93 | Expand Joint Details: false 94 | Expand Link Details: false 95 | Expand Tree: false 96 | Link Tree Style: Links in Alphabetic Order 97 | Name: RobotModel 98 | Robot Description: tb3_1/robot_description 99 | TF Prefix: tb3_1 100 | Update Interval: 0 101 | Value: true 102 | Visual Enabled: true 103 | - Class: rviz/TF 104 | Enabled: false 105 | Frame Timeout: 15 106 | Frames: 107 | All Enabled: false 108 | Marker Scale: 1 109 | Name: TF 110 | Show Arrows: true 111 | Show Axes: true 112 | Show Names: false 113 | Tree: 114 | {} 115 | Update Interval: 0 116 | Value: false 117 | - Alpha: 1 118 | Autocompute Intensity Bounds: true 119 | Autocompute Value Bounds: 120 | Max Value: 10 121 | Min Value: -10 122 | Value: true 123 | Axis: Z 124 | Channel Name: intensity 125 | Class: rviz/LaserScan 126 | Color: 0; 255; 0 127 | Color Transformer: FlatColor 128 | Decay Time: 0 129 | Enabled: true 130 | Invert Rainbow: false 131 | Max Color: 255; 255; 255 132 | Max Intensity: 13069 133 | Min Color: 0; 0; 0 134 | Min Intensity: 28 135 | Name: LaserScan 136 | Position Transformer: XYZ 137 | Queue Size: 10 138 | Selectable: true 139 | Size (Pixels): 3 140 | Size (m): 0.030000001192092896 141 | Style: Flat Squares 142 | Topic: /tb3_0/scan 143 | Unreliable: false 144 | Use Fixed Frame: true 145 | Use rainbow: true 146 | Value: true 147 | - Class: rviz/Image 148 | Enabled: false 149 | Image Topic: /raspicam_node/image 150 | Max Value: 1 151 | Median window: 5 152 | Min Value: 0 153 | Name: Image 154 | Normalize Range: true 155 | Queue Size: 2 156 | Transport Hint: compressed 157 | Unreliable: false 158 | Value: false 159 | - Alpha: 0.699999988079071 160 | Class: rviz/Map 161 | Color Scheme: map 162 | Draw Behind: false 163 | Enabled: true 164 | Name: Map 165 | Topic: /map 166 | Unreliable: false 167 | Use Timestamp: false 168 | Value: true 169 | - Alpha: 1 170 | Buffer Length: 1 171 | Class: rviz/Path 172 | Color: 0; 0; 0 173 | Enabled: true 174 | Head Diameter: 0.30000001192092896 175 | Head Length: 0.20000000298023224 176 | Length: 0.30000001192092896 177 | Line Style: Lines 178 | Line Width: 0.029999999329447746 179 | Name: Planner Plan 180 | Offset: 181 | X: 0 182 | Y: 0 183 | Z: 0 184 | Pose Color: 255; 85; 255 185 | Pose Style: None 186 | Radius: 0.029999999329447746 187 | Shaft Diameter: 0.10000000149011612 188 | Shaft Length: 0.10000000149011612 189 | Topic: tb3_0/move_base/NavfnROS/plan 190 | Unreliable: false 191 | Value: true 192 | - Class: rviz/Group 193 | Displays: 194 | - Alpha: 0.699999988079071 195 | Class: rviz/Map 196 | Color Scheme: costmap 197 | Draw Behind: true 198 | Enabled: true 199 | Name: Costmap 200 | Topic: /tb3_0/map 201 | Unreliable: false 202 | Use Timestamp: false 203 | Value: true 204 | - Alpha: 1 205 | Buffer Length: 1 206 | Class: rviz/Path 207 | Color: 255; 0; 0 208 | Enabled: true 209 | Head Diameter: 0.30000001192092896 210 | Head Length: 0.20000000298023224 211 | Length: 0.30000001192092896 212 | Line Style: Lines 213 | Line Width: 0.029999999329447746 214 | Name: Planner 215 | Offset: 216 | X: 0 217 | Y: 0 218 | Z: 0 219 | Pose Color: 255; 85; 255 220 | Pose Style: None 221 | Radius: 0.029999999329447746 222 | Shaft Diameter: 0.10000000149011612 223 | Shaft Length: 0.10000000149011612 224 | Topic: tb3_0/move_base/DWAPlannerROS/global_plan 225 | Unreliable: false 226 | Value: true 227 | Enabled: true 228 | Name: Global Map 229 | - Class: rviz/Group 230 | Displays: 231 | - Alpha: 1 232 | Class: rviz/Polygon 233 | Color: 0; 0; 0 234 | Enabled: true 235 | Name: Polygon 236 | Topic: tb3_0/move_base/local_costmap/footprint 237 | Unreliable: false 238 | Value: true 239 | - Alpha: 0.699999988079071 240 | Class: rviz/Map 241 | Color Scheme: costmap 242 | Draw Behind: false 243 | Enabled: true 244 | Name: Costmap 245 | Topic: /tb3_0/move_base/local_costmap/costmap 246 | Unreliable: false 247 | Use Timestamp: false 248 | Value: true 249 | - Alpha: 1 250 | Buffer Length: 1 251 | Class: rviz/Path 252 | Color: 255; 255; 0 253 | Enabled: true 254 | Head Diameter: 0.30000001192092896 255 | Head Length: 0.20000000298023224 256 | Length: 0.30000001192092896 257 | Line Style: Lines 258 | Line Width: 0.029999999329447746 259 | Name: Planner 260 | Offset: 261 | X: 0 262 | Y: 0 263 | Z: 0 264 | Pose Color: 255; 85; 255 265 | Pose Style: None 266 | Radius: 0.029999999329447746 267 | Shaft Diameter: 0.10000000149011612 268 | Shaft Length: 0.10000000149011612 269 | Topic: tb3_0/move_base/DWAPlannerROS/local_plan 270 | Unreliable: false 271 | Value: true 272 | Enabled: true 273 | Name: Local Map 274 | - Alpha: 1 275 | Arrow Length: 0.05000000074505806 276 | Axes Length: 0.30000001192092896 277 | Axes Radius: 0.009999999776482582 278 | Class: rviz/PoseArray 279 | Color: 0; 192; 0 280 | Enabled: true 281 | Head Length: 0.07000000029802322 282 | Head Radius: 0.029999999329447746 283 | Name: Amcl Particles 284 | Shaft Length: 0.23000000417232513 285 | Shaft Radius: 0.009999999776482582 286 | Shape: Arrow (Flat) 287 | Topic: tb3_0/particlecloud 288 | Unreliable: false 289 | Value: true 290 | - Alpha: 1 291 | Axes Length: 1 292 | Axes Radius: 0.10000000149011612 293 | Class: rviz/Pose 294 | Color: 255; 25; 0 295 | Enabled: true 296 | Head Length: 0.30000001192092896 297 | Head Radius: 0.10000000149011612 298 | Name: Goal 299 | Shaft Length: 0.5 300 | Shaft Radius: 0.05000000074505806 301 | Shape: Arrow 302 | Topic: /tb3_0/move_base_simple/goal 303 | Unreliable: false 304 | Value: true 305 | - Alpha: 1 306 | Autocompute Intensity Bounds: true 307 | Autocompute Value Bounds: 308 | Max Value: 10 309 | Min Value: -10 310 | Value: true 311 | Axis: Z 312 | Channel Name: intensity 313 | Class: rviz/LaserScan 314 | Color: 255; 255; 255 315 | Color Transformer: Intensity 316 | Decay Time: 0 317 | Enabled: true 318 | Invert Rainbow: false 319 | Max Color: 255; 255; 255 320 | Max Intensity: 0 321 | Min Color: 0; 0; 0 322 | Min Intensity: 0 323 | Name: LaserScan 324 | Position Transformer: XYZ 325 | Queue Size: 10 326 | Selectable: true 327 | Size (Pixels): 3 328 | Size (m): 0.009999999776482582 329 | Style: Flat Squares 330 | Topic: /tb3_1/scan 331 | Unreliable: false 332 | Use Fixed Frame: true 333 | Use rainbow: true 334 | Value: true 335 | - Alpha: 1 336 | Class: rviz/Polygon 337 | Color: 25; 255; 0 338 | Enabled: true 339 | Name: Polygon 340 | Topic: tb3_1/move_base/local_costmap/footprint 341 | Unreliable: false 342 | Value: true 343 | - Alpha: 1 344 | Buffer Length: 1 345 | Class: rviz/Path 346 | Color: 25; 255; 0 347 | Enabled: true 348 | Head Diameter: 0.30000001192092896 349 | Head Length: 0.20000000298023224 350 | Length: 0.30000001192092896 351 | Line Style: Lines 352 | Line Width: 0.029999999329447746 353 | Name: Path 354 | Offset: 355 | X: 0 356 | Y: 0 357 | Z: 0 358 | Pose Color: 255; 85; 255 359 | Pose Style: None 360 | Radius: 0.029999999329447746 361 | Shaft Diameter: 0.10000000149011612 362 | Shaft Length: 0.10000000149011612 363 | Topic: tb3_1/move_base/DWAPlannerROS/local_plan 364 | Unreliable: false 365 | Value: true 366 | Enabled: true 367 | Global Options: 368 | Background Color: 48; 48; 48 369 | Default Light: true 370 | Fixed Frame: map 371 | Frame Rate: 30 372 | Name: root 373 | Tools: 374 | - Class: rviz/MoveCamera 375 | - Class: rviz/Interact 376 | Hide Inactive Objects: true 377 | - Class: rviz/Select 378 | - Class: rviz/SetInitialPose 379 | Theta std deviation: 0.2617993950843811 380 | Topic: /initialpose 381 | X std deviation: 0.5 382 | Y std deviation: 0.5 383 | - Class: rviz/SetGoal 384 | Topic: /tb3_0/move_base_simple/goal 385 | - Class: rviz/Measure 386 | Value: true 387 | Views: 388 | Current: 389 | Angle: -8.975820541381836 390 | Class: rviz/TopDownOrtho 391 | Enable Stereo Rendering: 392 | Stereo Eye Separation: 0.05999999865889549 393 | Stereo Focal Distance: 1 394 | Swap Stereo Eyes: false 395 | Value: false 396 | Invert Z Axis: false 397 | Name: Current View 398 | Near Clip Distance: 0.009999999776482582 399 | Scale: 74.2137680053711 400 | Target Frame: 401 | Value: TopDownOrtho (rviz) 402 | X: -0.6697334051132202 403 | Y: 1.1047075986862183 404 | Saved: ~ 405 | Window Geometry: 406 | Displays: 407 | collapsed: false 408 | Height: 713 409 | Hide Left Dock: false 410 | Hide Right Dock: true 411 | Image: 412 | collapsed: false 413 | QMainWindow State: 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414 | Selection: 415 | collapsed: false 416 | Time: 417 | collapsed: false 418 | Tool Properties: 419 | collapsed: false 420 | Views: 421 | collapsed: true 422 | Width: 1307 423 | X: 59 424 | Y: 27 425 | -------------------------------------------------------------------------------- /turtlebot3_navigation/RViz/turtlebot3_navigation_tb3_1.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | - /RobotModel1/Links1 11 | - /TF1/Frames1 12 | - /TF1/Tree1 13 | - /LaserScan1 14 | - /Planner Plan1 15 | - /Global Map1 16 | - /Global Map1/Costmap1 17 | - /Global Map1/Planner1 18 | - /Local Map1 19 | - /Local Map1/Polygon1 20 | - /Local Map1/Costmap1 21 | - /Local Map1/Planner1 22 | - /Amcl Particles1 23 | - /Goal1 24 | - /Path1 25 | Splitter Ratio: 0.5 26 | Tree Height: 484 27 | - Class: rviz/Selection 28 | Name: Selection 29 | - Class: rviz/Tool Properties 30 | Expanded: 31 | - /2D Pose Estimate1 32 | - /2D Nav Goal1 33 | Name: Tool Properties 34 | Splitter Ratio: 0.5886790156364441 35 | - Class: rviz/Views 36 | Expanded: 37 | - /Current View1 38 | Name: Views 39 | Splitter Ratio: 0.5 40 | - Class: rviz/Time 41 | Experimental: false 42 | Name: Time 43 | SyncMode: 0 44 | SyncSource: LaserScan 45 | Preferences: 46 | PromptSaveOnExit: true 47 | Toolbars: 48 | toolButtonStyle: 2 49 | Visualization Manager: 50 | Class: "" 51 | Displays: 52 | - Alpha: 0.5 53 | Cell Size: 1 54 | Class: rviz/Grid 55 | Color: 160; 160; 164 56 | Enabled: true 57 | Line Style: 58 | Line Width: 0.029999999329447746 59 | Value: Lines 60 | Name: Grid 61 | Normal Cell Count: 0 62 | Offset: 63 | X: 0 64 | Y: 0 65 | Z: 0 66 | Plane: XY 67 | Plane Cell Count: 20 68 | Reference Frame: 69 | Value: true 70 | - Alpha: 1 71 | Class: rviz/RobotModel 72 | Collision Enabled: false 73 | Enabled: true 74 | Links: 75 | All Links Enabled: true 76 | Expand Joint Details: false 77 | Expand Link Details: false 78 | Expand Tree: false 79 | Link Tree Style: Links in Alphabetic Order 80 | Name: RobotModel 81 | Robot Description: tb3_0/robot_description 82 | TF Prefix: tb3_0 83 | Update Interval: 0 84 | Value: true 85 | Visual Enabled: true 86 | - Alpha: 1 87 | Class: rviz/RobotModel 88 | Collision Enabled: false 89 | Enabled: true 90 | Links: 91 | All Links Enabled: true 92 | Expand Joint Details: false 93 | Expand Link Details: false 94 | Expand Tree: false 95 | Link Tree Style: Links in Alphabetic Order 96 | Name: RobotModel 97 | Robot Description: tb3_1/robot_description 98 | TF Prefix: tb3_1 99 | Update Interval: 0 100 | Value: true 101 | Visual Enabled: true 102 | - Class: rviz/TF 103 | Enabled: false 104 | Frame Timeout: 15 105 | Frames: 106 | All Enabled: false 107 | Marker Scale: 1 108 | Name: TF 109 | Show Arrows: true 110 | Show Axes: true 111 | Show Names: false 112 | Tree: 113 | {} 114 | Update Interval: 0 115 | Value: false 116 | - Alpha: 1 117 | Autocompute Intensity Bounds: true 118 | Autocompute Value Bounds: 119 | Max Value: 10 120 | Min Value: -10 121 | Value: true 122 | Axis: Z 123 | Channel Name: intensity 124 | Class: rviz/LaserScan 125 | Color: 0; 255; 0 126 | Color Transformer: FlatColor 127 | Decay Time: 0 128 | Enabled: true 129 | Invert Rainbow: false 130 | Max Color: 255; 255; 255 131 | Max Intensity: 13069 132 | Min Color: 0; 0; 0 133 | Min Intensity: 28 134 | Name: LaserScan 135 | Position Transformer: XYZ 136 | Queue Size: 10 137 | Selectable: true 138 | Size (Pixels): 3 139 | Size (m): 0.030000001192092896 140 | Style: Flat Squares 141 | Topic: /tb3_0/scan 142 | Unreliable: false 143 | Use Fixed Frame: true 144 | Use rainbow: true 145 | Value: true 146 | - Class: rviz/Image 147 | Enabled: false 148 | Image Topic: /raspicam_node/image 149 | Max Value: 1 150 | Median window: 5 151 | Min Value: 0 152 | Name: Image 153 | Normalize Range: true 154 | Queue Size: 2 155 | Transport Hint: compressed 156 | Unreliable: false 157 | Value: false 158 | - Alpha: 0.699999988079071 159 | Class: rviz/Map 160 | Color Scheme: map 161 | Draw Behind: false 162 | Enabled: true 163 | Name: Map 164 | Topic: /map 165 | Unreliable: false 166 | Use Timestamp: false 167 | Value: true 168 | - Alpha: 1 169 | Buffer Length: 1 170 | Class: rviz/Path 171 | Color: 0; 0; 0 172 | Enabled: true 173 | Head Diameter: 0.30000001192092896 174 | Head Length: 0.20000000298023224 175 | Length: 0.30000001192092896 176 | Line Style: Lines 177 | Line Width: 0.029999999329447746 178 | Name: Planner Plan 179 | Offset: 180 | X: 0 181 | Y: 0 182 | Z: 0 183 | Pose Color: 255; 85; 255 184 | Pose Style: None 185 | Radius: 0.029999999329447746 186 | Shaft Diameter: 0.10000000149011612 187 | Shaft Length: 0.10000000149011612 188 | Topic: tb3_0/move_base/NavfnROS/plan 189 | Unreliable: false 190 | Value: true 191 | - Class: rviz/Group 192 | Displays: 193 | - Alpha: 0.699999988079071 194 | Class: rviz/Map 195 | Color Scheme: costmap 196 | Draw Behind: true 197 | Enabled: true 198 | Name: Costmap 199 | Topic: /tb3_0/map 200 | Unreliable: false 201 | Use Timestamp: false 202 | Value: true 203 | - Alpha: 1 204 | Buffer Length: 1 205 | Class: rviz/Path 206 | Color: 255; 0; 0 207 | Enabled: true 208 | Head Diameter: 0.30000001192092896 209 | Head Length: 0.20000000298023224 210 | Length: 0.30000001192092896 211 | Line Style: Lines 212 | Line Width: 0.029999999329447746 213 | Name: Planner 214 | Offset: 215 | X: 0 216 | Y: 0 217 | Z: 0 218 | Pose Color: 255; 85; 255 219 | Pose Style: None 220 | Radius: 0.029999999329447746 221 | Shaft Diameter: 0.10000000149011612 222 | Shaft Length: 0.10000000149011612 223 | Topic: tb3_0/move_base/DWAPlannerROS/global_plan 224 | Unreliable: false 225 | Value: true 226 | Enabled: true 227 | Name: Global Map 228 | - Class: rviz/Group 229 | Displays: 230 | - Alpha: 1 231 | Class: rviz/Polygon 232 | Color: 0; 0; 0 233 | Enabled: true 234 | Name: Polygon 235 | Topic: tb3_0/move_base/local_costmap/footprint 236 | Unreliable: false 237 | Value: true 238 | - Alpha: 0.699999988079071 239 | Class: rviz/Map 240 | Color Scheme: costmap 241 | Draw Behind: false 242 | Enabled: true 243 | Name: Costmap 244 | Topic: /tb3_0/move_base/local_costmap/costmap 245 | Unreliable: false 246 | Use Timestamp: false 247 | Value: true 248 | - Alpha: 1 249 | Buffer Length: 1 250 | Class: rviz/Path 251 | Color: 255; 255; 0 252 | Enabled: true 253 | Head Diameter: 0.30000001192092896 254 | Head Length: 0.20000000298023224 255 | Length: 0.30000001192092896 256 | Line Style: Lines 257 | Line Width: 0.029999999329447746 258 | Name: Planner 259 | Offset: 260 | X: 0 261 | Y: 0 262 | Z: 0 263 | Pose Color: 255; 85; 255 264 | Pose Style: None 265 | Radius: 0.029999999329447746 266 | Shaft Diameter: 0.10000000149011612 267 | Shaft Length: 0.10000000149011612 268 | Topic: tb3_0/move_base/DWAPlannerROS/local_plan 269 | Unreliable: false 270 | Value: true 271 | Enabled: true 272 | Name: Local Map 273 | - Alpha: 1 274 | Arrow Length: 0.05000000074505806 275 | Axes Length: 0.30000001192092896 276 | Axes Radius: 0.009999999776482582 277 | Class: rviz/PoseArray 278 | Color: 0; 192; 0 279 | Enabled: true 280 | Head Length: 0.07000000029802322 281 | Head Radius: 0.029999999329447746 282 | Name: Amcl Particles 283 | Shaft Length: 0.23000000417232513 284 | Shaft Radius: 0.009999999776482582 285 | Shape: Arrow (Flat) 286 | Topic: tb3_0/particlecloud 287 | Unreliable: false 288 | Value: true 289 | - Alpha: 1 290 | Axes Length: 1 291 | Axes Radius: 0.10000000149011612 292 | Class: rviz/Pose 293 | Color: 255; 25; 0 294 | Enabled: true 295 | Head Length: 0.30000001192092896 296 | Head Radius: 0.10000000149011612 297 | Name: Goal 298 | Shaft Length: 0.5 299 | Shaft Radius: 0.05000000074505806 300 | Shape: Arrow 301 | Topic: /tb3_0/move_base_simple/goal 302 | Unreliable: false 303 | Value: true 304 | - Alpha: 1 305 | Autocompute Intensity Bounds: true 306 | Autocompute Value Bounds: 307 | Max Value: 10 308 | Min Value: -10 309 | Value: true 310 | Axis: Z 311 | Channel Name: intensity 312 | Class: rviz/LaserScan 313 | Color: 255; 255; 255 314 | Color Transformer: Intensity 315 | Decay Time: 0 316 | Enabled: true 317 | Invert Rainbow: false 318 | Max Color: 255; 255; 255 319 | Max Intensity: 0 320 | Min Color: 0; 0; 0 321 | Min Intensity: 0 322 | Name: LaserScan 323 | Position Transformer: XYZ 324 | Queue Size: 10 325 | Selectable: true 326 | Size (Pixels): 3 327 | Size (m): 0.009999999776482582 328 | Style: Flat Squares 329 | Topic: /tb3_1/scan 330 | Unreliable: false 331 | Use Fixed Frame: true 332 | Use rainbow: true 333 | Value: true 334 | - Alpha: 1 335 | Class: rviz/Polygon 336 | Color: 25; 255; 0 337 | Enabled: true 338 | Name: Polygon 339 | Topic: tb3_1/move_base/local_costmap/footprint 340 | Unreliable: false 341 | Value: true 342 | - Alpha: 1 343 | Buffer Length: 1 344 | Class: rviz/Path 345 | Color: 25; 255; 0 346 | Enabled: true 347 | Head Diameter: 0.30000001192092896 348 | Head Length: 0.20000000298023224 349 | Length: 0.30000001192092896 350 | Line Style: Lines 351 | Line Width: 0.029999999329447746 352 | Name: Path 353 | Offset: 354 | X: 0 355 | Y: 0 356 | Z: 0 357 | Pose Color: 255; 85; 255 358 | Pose Style: None 359 | Radius: 0.029999999329447746 360 | Shaft Diameter: 0.10000000149011612 361 | Shaft Length: 0.10000000149011612 362 | Topic: tb3_1/move_base/DWAPlannerROS/local_plan 363 | Unreliable: false 364 | Value: true 365 | Enabled: true 366 | Global Options: 367 | Background Color: 48; 48; 48 368 | Default Light: true 369 | Fixed Frame: map 370 | Frame Rate: 30 371 | Name: root 372 | Tools: 373 | - Class: rviz/MoveCamera 374 | - Class: rviz/Interact 375 | Hide Inactive Objects: true 376 | - Class: rviz/Select 377 | - Class: rviz/SetInitialPose 378 | Theta std deviation: 0.2617993950843811 379 | Topic: /initialpose 380 | X std deviation: 0.5 381 | Y std deviation: 0.5 382 | - Class: rviz/SetGoal 383 | Topic: /tb3_0/move_base_simple/goal 384 | - Class: rviz/Measure 385 | Value: true 386 | Views: 387 | Current: 388 | Angle: -8.975820541381836 389 | Class: rviz/TopDownOrtho 390 | Enable Stereo Rendering: 391 | Stereo Eye Separation: 0.05999999865889549 392 | Stereo Focal Distance: 1 393 | Swap Stereo Eyes: false 394 | Value: false 395 | Invert Z Axis: false 396 | Name: Current View 397 | Near Clip Distance: 0.009999999776482582 398 | Scale: 74.2137680053711 399 | Target Frame: 400 | Value: TopDownOrtho (rviz) 401 | X: -0.6697334051132202 402 | Y: 1.1047075986862183 403 | Saved: ~ 404 | Window Geometry: 405 | Displays: 406 | collapsed: false 407 | Height: 713 408 | Hide Left Dock: false 409 | Hide Right Dock: true 410 | Image: 411 | collapsed: false 412 | QMainWindow State: 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413 | Selection: 414 | collapsed: false 415 | Time: 416 | collapsed: false 417 | Tool Properties: 418 | collapsed: false 419 | Views: 420 | collapsed: true 421 | Width: 1307 422 | X: 59 423 | Y: 27 424 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/amcl_tb3_0.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/amcl_tb3_1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/move_base_tb3_0.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/move_base_tb3_1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/turtlebot3_navigation_multi.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/turtlebot3_navigation_tb3_0.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /turtlebot3_navigation/launch/turtlebot3_navigation_tb3_1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 43 | 44 | 45 | --------------------------------------------------------------------------------