├── README.md
└── navros_pkg
    ├── CMakeLists.txt
    ├── launch
        ├── amcl.launch
        ├── gmapping.launch
        ├── move_base.launch
        ├── octomap.launch
        ├── pctl.launch
        ├── spawn_car.launch
        ├── spawn_world.launch
        ├── urdf_gazebo_view.launch
        └── urdf_rviz_view.launch
    ├── maps
        ├── map.pgm
        └── map.yaml
    ├── package.xml
    ├── param
        ├── costmap_common_params.yaml
        ├── dwa_local_planner_params.yaml
        ├── global_costmap_params.yaml
        ├── local_costmap_params.yaml
        ├── move_base_params.yaml
        └── navfn_global_planner_params.yaml
    ├── rviz
        ├── kinect.rviz
        ├── laser.rviz
        ├── map.rviz
        ├── navigate.rviz
        └── octomap.rviz
    ├── screenshots
        ├── grid_slam.jpg
        ├── grid_slam.png
        ├── navigation.png
        └── small_house.png
    └── urdf
        ├── car.urdf.xacro
        └── gazebo_plugins.urdf.xacro


/README.md:
--------------------------------------------------------------------------------
 1 | Autonomous SLAM using a differential drive robot. 
 2 | This work is a project for *Introduction to Robotics* class.
 3 | 
 4 | # Overview
 5 | There are two videos showing the whole setup in action: [Building a map of the environment | ROS Gmapping | Octomap](https://youtu.be/mLMfofIn_PM) and [Autonomous Robot navigation using the ROS Navigation](https://youtu.be/94Ar3pGP3KM). 
 6 | 
 7 | # Prerequisites
 8 | 
 9 | This project was developed for ROS Noetic (Ubuntu 20.04). The following
10 | packages are required:
11 | 1. [pointcloud_to_laserscan package](http://wiki.ros.org/pointcloud_to_laserscan), is used to convert a 3D Point Cloud into a 2D laser scan, this can be installed using: `sudo apt install ros-noetic-pointcloud-to-laserscan ros-noetic-rosbridge-server`
12 | 2. To control the robot, you might need to install the [teleop_twist_keyboard package](http://wiki.ros.org/teleop_twist_keyboard) and then run teleop_twist_keyboard teleop_twist_keyboard.py.
13 | 3. [OctoMap](http://wiki.ros.org/octomap) is used to generate the 3D occupancy
14 |    grid. `octomap_server` is used to interface OctoMap with ROS, both can be
15 |    installed via `apt` as `ros-noetic-octomap` and `ros-noetic-octomap-ros`.
16 | 
17 | 4. You'll need to install the [OctoMap RViz
18 |    plugin](https://github.com/OctoMap/octomap_rviz_plugins) via `apt` as
19 |    `ros-noetic-octomap-rviz-plugins`. Without it, occupancy grid
20 |    visualisations in RViz will not work.
21 | 5. You will also need to install the controller_manager package: `sudo apt-get install ros-noetic-controller-manager`
22 | 6. The probabilistic localization system *amcl* is also needed, you can install it with: `sudo apt install ros-noetic-amcl`
23 | 
24 | #### Note: you might need to install more packages depending on what you have previously installed, if you have any problem just google it, and install the package needed.
25 | 
26 | # Usage
27 | 1. Make sure you have the prerequisites installed.
28 | 2. Clone this repo into your [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace), e.g.
29 |    into `~/catkin_ws/src/navros_pkg/`.
30 | 3. Clone [aws-robomaker-small-house-world](https://github.com/aws-robotics/aws-robomaker-small-house-world) repo into your catkin workspace, e.g.
31 |    into `~/catkin_ws/src/small-house-world/`.
32 |    * Add the following to your launch file:
33 | ```xml
34 | <launch>
35 |   <!-- Launch World -->
36 |   <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch"/>
37 |   ...
38 | </launch>
39 | ```
40 | ![](./navros_pkg/screenshots/small_house.png)
41 | 
42 | 4. Source your ROS in the Bash instance: `source
43 |    /opt/ros/noetic/setup.bash` and `source ~/catkin_ws/devel/setup.bash`.
44 | 5. Run `catkin_make` in `~/catkin_ws/` and `source
45 |    ~/catkin_ws/devel/setup.bash` again.   
46 |    
47 | ## Start Gazebo Simulation
48 | 6. Start the simulation using: `roslaunch aws_robomaker_small_house_world view_small_house.launch`.
49 | 7. Spawn the robot in the map using: `roslaunch navros_pkg urdf_gazebo_view.launch`.
50 | Keep this terminal running for all the next steps.
51 | 
52 | ## Mapping
53 | 3D occupancy grid map            |  2D occupancy grid map
54 | :-------------------------:|:-------------------------:
55 | ![](./navros_pkg/screenshots/grid_slam.jpg)  |  ![](./navros_pkg/screenshots/grid_slam.png)
56 | 
57 | 8. Run the gmapping SLAM command:`roslaunch navros_pkg gmapping.launch`
58 | 9. Navigate to rviz folder using:`cd catkin_ws/src/navros_pkg/rviz` then run it using: `rviz -d map.rviz`
59 | 10. For OCTOMAP use:`roslaunch navros_pkg octomap.launch`
60 | Then navigate to rviz folder using:`cd catkin_ws/src/navros_pkg/rviz` then run it using: `rviz -d octomap.rviz`
61 | 11. To control the drone manually, you use: `rosrun teleop_twist_keyboard teleop_twist_keyboard.py` but it requires [teleop_twist_keyboard](http://wiki.ros.org/teleop_twist_keyboard) package to be installed.
62 | 12. Once mapping is complete, Save the map: `rosrun map_server map_saver ~/catkin_ws/src/navros_pkg/maps/name_of_map`
63 | if this command is not working for some reason, then run this `rosrun map_server map_saver` then copy the map generated in *src* directory to *~/catkin_ws/src/navros_pkg/maps/* directory.
64 | Finally close everything, and relaunch gazebo only with the robot (repeat steps 6 and 7).
65 | 
66 | ## Autonomous Navigation
67 | ![](./navros_pkg/screenshots/navigation.png)
68 | 
69 | 13. To start the navigation using the previously generated map, run each of the following commands in a new terminal:
70 | * A) `roslaunch navros_pkg amcl.launch map:='name_of_map'` if you picked a name for your map make sure to change *name_of_map* otherwise it should be *map* (check the name in the maps folder).
71 | * B) `roslaunch navros_pkg move_base.launch`
72 | * C) `cd catkin_ws/src/navros_pkg/rviz` then `rviz -d navigate.rviz`
73 | 
74 | 14. Test navigation using rviz:
75 | * Set initial pose (Click "2D pose estimate" and pinpoint the approximate location of robot on map).*
76 | * Red arrows indicate the probable location.
77 | * Set goal for the robot in RVIZ (Click "2D Nav goal" and pinpoint the desired goal on the map).
78 | * Green line indicates the path planned.
79 | 
80 | 15. Thanks and PROFIT
81 | 
82 | 
83 | 
84 | 


--------------------------------------------------------------------------------
/navros_pkg/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(navros_pkg)
  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 |   controller_manager
 12 |   gazebo_ros
 13 |   joint_state_publisher
 14 |   robot_state_publisher
 15 |   rospy
 16 |   rviz
 17 |   urdf
 18 | )
 19 | 
 20 | ## System dependencies are found with CMake's conventions
 21 | # find_package(Boost REQUIRED COMPONENTS system)
 22 | 
 23 | 
 24 | ## Uncomment this if the package has a setup.py. This macro ensures
 25 | ## modules and global scripts declared therein get installed
 26 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 27 | # catkin_python_setup()
 28 | 
 29 | ################################################
 30 | ## Declare ROS messages, services and actions ##
 31 | ################################################
 32 | 
 33 | ## To declare and build messages, services or actions from within this
 34 | ## package, follow these steps:
 35 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 36 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 37 | ## * In the file package.xml:
 38 | ##   * add a build_depend tag for "message_generation"
 39 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 40 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 41 | ##     but can be declared for certainty nonetheless:
 42 | ##     * add a exec_depend tag for "message_runtime"
 43 | ## * In this file (CMakeLists.txt):
 44 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 45 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 46 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 47 | ##     catkin_package(CATKIN_DEPENDS ...)
 48 | ##   * uncomment the add_*_files sections below as needed
 49 | ##     and list every .msg/.srv/.action file to be processed
 50 | ##   * uncomment the generate_messages entry below
 51 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 52 | 
 53 | ## Generate messages in the 'msg' folder
 54 | # add_message_files(
 55 | #   FILES
 56 | #   Message1.msg
 57 | #   Message2.msg
 58 | # )
 59 | 
 60 | ## Generate services in the 'srv' folder
 61 | # add_service_files(
 62 | #   FILES
 63 | #   Service1.srv
 64 | #   Service2.srv
 65 | # )
 66 | 
 67 | ## Generate actions in the 'action' folder
 68 | # add_action_files(
 69 | #   FILES
 70 | #   Action1.action
 71 | #   Action2.action
 72 | # )
 73 | 
 74 | ## Generate added messages and services with any dependencies listed here
 75 | # generate_messages(
 76 | #   DEPENDENCIES
 77 | #   std_msgs  # Or other packages containing msgs
 78 | # )
 79 | 
 80 | ################################################
 81 | ## Declare ROS dynamic reconfigure parameters ##
 82 | ################################################
 83 | 
 84 | ## To declare and build dynamic reconfigure parameters within this
 85 | ## package, follow these steps:
 86 | ## * In the file package.xml:
 87 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 88 | ## * In this file (CMakeLists.txt):
 89 | ##   * add "dynamic_reconfigure" to
 90 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 91 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 92 | ##     and list every .cfg file to be processed
 93 | 
 94 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 95 | # generate_dynamic_reconfigure_options(
 96 | #   cfg/DynReconf1.cfg
 97 | #   cfg/DynReconf2.cfg
 98 | # )
 99 | 
100 | ###################################
101 | ## catkin specific configuration ##
102 | ###################################
103 | ## The catkin_package macro generates cmake config files for your package
104 | ## Declare things to be passed to dependent projects
105 | ## INCLUDE_DIRS: uncomment this if your package contains header files
106 | ## LIBRARIES: libraries you create in this project that dependent projects also need
107 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
108 | ## DEPENDS: system dependencies of this project that dependent projects also need
109 | catkin_package(
110 | #  INCLUDE_DIRS include
111 | #  LIBRARIES navros_pkg
112 | #  CATKIN_DEPENDS controller_manager gazebo_ros joint_state_publisher robot_state_publisher rospy rviz urdf
113 | #  DEPENDS system_lib
114 | )
115 | 
116 | ###########
117 | ## Build ##
118 | ###########
119 | 
120 | ## Specify additional locations of header files
121 | ## Your package locations should be listed before other locations
122 | include_directories(
123 | # include
124 |   ${catkin_INCLUDE_DIRS}
125 | )
126 | 
127 | ## Declare a C++ library
128 | # add_library(${PROJECT_NAME}
129 | #   src/${PROJECT_NAME}/navros_pkg.cpp
130 | # )
131 | 
132 | ## Add cmake target dependencies of the library
133 | ## as an example, code may need to be generated before libraries
134 | ## either from message generation or dynamic reconfigure
135 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
136 | 
137 | ## Declare a C++ executable
138 | ## With catkin_make all packages are built within a single CMake context
139 | ## The recommended prefix ensures that target names across packages don't collide
140 | # add_executable(${PROJECT_NAME}_node src/navros_pkg_node.cpp)
141 | 
142 | ## Rename C++ executable without prefix
143 | ## The above recommended prefix causes long target names, the following renames the
144 | ## target back to the shorter version for ease of user use
145 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
146 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
147 | 
148 | ## Add cmake target dependencies of the executable
149 | ## same as for the library above
150 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
151 | 
152 | ## Specify libraries to link a library or executable target against
153 | # target_link_libraries(${PROJECT_NAME}_node
154 | #   ${catkin_LIBRARIES}
155 | # )
156 | 
157 | #############
158 | ## Install ##
159 | #############
160 | 
161 | # all install targets should use catkin DESTINATION variables
162 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
163 | 
164 | ## Mark executable scripts (Python etc.) for installation
165 | ## in contrast to setup.py, you can choose the destination
166 | # install(PROGRAMS
167 | #   scripts/my_python_script
168 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
169 | # )
170 | 
171 | ## Mark executables and/or libraries for installation
172 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
173 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
174 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
175 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
176 | # )
177 | 
178 | ## Mark cpp header files for installation
179 | # install(DIRECTORY include/${PROJECT_NAME}/
180 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
181 | #   FILES_MATCHING PATTERN "*.h"
182 | #   PATTERN ".svn" EXCLUDE
183 | # )
184 | 
185 | ## Mark other files for installation (e.g. launch and bag files, etc.)
186 | # install(FILES
187 | #   # myfile1
188 | #   # myfile2
189 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
190 | # )
191 | 
192 | #############
193 | ## Testing ##
194 | #############
195 | 
196 | ## Add gtest based cpp test target and link libraries
197 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_navros_pkg.cpp)
198 | # if(TARGET ${PROJECT_NAME}-test)
199 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
200 | # endif()
201 | 
202 | ## Add folders to be run by python nosetests
203 | # catkin_add_nosetests(test)
204 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/amcl.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   
 3 |   <arg name="map" default=""/>
 4 | 
 5 |   <arg name="map_file" default="$(find navros_pkg)/maps/$(arg map).yaml"/>
 6 |   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
 7 | 
 8 |   <arg name="use_map_topic"   default="true"/>
 9 |   <arg name="scan_topic"      default="kinect/scan"/> 
10 | 
11 |   
12 |   <arg name="odom_frame_id"   default="odom"/>
13 |   <arg name="base_frame_id"   default="chassis"/>
14 |   <arg name="global_frame_id" default="map"/>
15 | 
16 |   <node pkg="amcl" type="amcl" name="amcl">
17 |     <param name="use_map_topic"             value="$(arg use_map_topic)"/>
18 |     <!-- Publish scans from best pose at a max of 10 Hz -->
19 |     <param name="odom_model_type"           value="diff"/>
20 |     <param name="odom_alpha5"               value="0.1"/>
21 |     <param name="gui_publish_rate"          value="10.0"/>
22 |     <param name="laser_max_beams"             value="60"/>
23 |     <param name="laser_max_range"           value="12.0"/>
24 |     <param name="min_particles"             value="50"/>
25 |     <param name="max_particles"             value="500"/>
26 |     <param name="kld_err"                   value="0.05"/>
27 |     <param name="kld_z"                     value="0.99"/>
28 |     <param name="odom_alpha1"               value="0.2"/>
29 |     <param name="odom_alpha2"               value="0.2"/>
30 |     <!-- translation std dev, m -->
31 |     <param name="odom_alpha3"               value="0.2"/>
32 |     <param name="odom_alpha4"               value="0.2"/>
33 |     <param name="laser_z_hit"               value="0.5"/>
34 |     <param name="laser_z_short"             value="0.05"/>
35 |     <param name="laser_z_max"               value="0.05"/>
36 |     <param name="laser_z_rand"              value="0.5"/>
37 |     <param name="laser_sigma_hit"           value="0.2"/>
38 |     <param name="laser_lambda_short"        value="0.1"/>
39 |     <param name="laser_model_type"          value="likelihood_field"/>
40 |     <!-- <param name="laser_model_type" value="beam"/> -->
41 |     <param name="laser_likelihood_max_dist" value="2.0"/>
42 |     <param name="update_min_d"              value="0.25"/>
43 |     <param name="update_min_a"              value="0.2"/>
44 |     <param name="odom_frame_id"             value="$(arg odom_frame_id)"/> 
45 |     <param name="base_frame_id"             value="$(arg base_frame_id)"/> 
46 |     <param name="global_frame_id"           value="$(arg global_frame_id)"/>
47 |     <param name="resample_interval"         value="1"/>
48 |     <!-- Increase tolerance because the computer can get quite busy -->
49 |     <param name="transform_tolerance"       value="1.0"/>
50 |     <param name="recovery_alpha_slow"       value="0.0"/>
51 |     <param name="recovery_alpha_fast"       value="0.0"/>
52 |     <remap from="scan"                      to="$(arg scan_topic)"/>
53 |   </node>
54 | </launch>
55 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/gmapping.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <arg name="scan_topic"  default="kinect/scan" />
 3 |   <arg name="base_frame"  default="chassis"/>
 4 |   <arg name="odom_frame"  default="odom"/>
 5 | 
 6 |   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
 7 |     <param name="base_frame" value="$(arg base_frame)"/>
 8 |     <param name="odom_frame" value="$(arg odom_frame)"/>
 9 |     <param name="map_update_interval" value="5.0"/>
10 |     <param name="maxUrange" value="6.0"/>
11 |     <param name="maxRange" value="8.0"/>
12 |     <param name="sigma" value="0.05"/>
13 |     <param name="kernelSize" value="1"/>
14 |     <param name="lstep" value="0.05"/>
15 |     <param name="astep" value="0.05"/>
16 |     <param name="iterations" value="5"/>
17 |     <param name="lsigma" value="0.075"/>
18 |     <param name="ogain" value="3.0"/>
19 |     <param name="lskip" value="0"/>
20 |     <param name="minimumScore" value="200"/>
21 |     <param name="srr" value="0.01"/>
22 |     <param name="srt" value="0.02"/>
23 |     <param name="str" value="0.01"/>
24 |     <param name="stt" value="0.02"/>
25 |     <param name="linearUpdate" value="0.5"/>
26 |     <param name="angularUpdate" value="0.436"/>
27 |     <param name="temporalUpdate" value="-1.0"/>
28 |     <param name="resampleThreshold" value="0.5"/>
29 |     <param name="particles" value="80"/>
30 |   <!--
31 |     <param name="xmin" value="-50.0"/>
32 |     <param name="ymin" value="-50.0"/>
33 |     <param name="xmax" value="50.0"/>
34 |     <param name="ymax" value="50.0"/>
35 |   make the starting size small for the benefit of the Android client's memory...
36 |   -->
37 |     <param name="xmin" value="-1.0"/>
38 |     <param name="ymin" value="-1.0"/>
39 |     <param name="xmax" value="1.0"/>
40 |     <param name="ymax" value="1.0"/>
41 | 
42 |     <param name="delta" value="0.05"/>
43 |     <param name="llsamplerange" value="0.01"/>
44 |     <param name="llsamplestep" value="0.01"/>
45 |     <param name="lasamplerange" value="0.005"/>
46 |     <param name="lasamplestep" value="0.005"/>
47 |     <remap from="scan" to="$(arg scan_topic)"/>
48 |   </node>
49 | </launch>
50 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/move_base.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   
 3 | 
 4 |   <arg name="odom_frame_id"   default="odom"/>
 5 |   <arg name="base_frame_id"   default="chassis"/>
 6 |   <arg name="global_frame_id" default="map"/>
 7 |   <arg name="odom_topic" default="odom" />
 8 |   <arg name="laser_topic" default="kinect/scan" />
 9 | 
10 | 
11 |   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
12 |     <rosparam file="$(find navros_pkg)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
13 |     <rosparam file="$(find navros_pkg)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />   
14 |     <rosparam file="$(find navros_pkg)/param/local_costmap_params.yaml" command="load" />   
15 |     <rosparam file="$(find navros_pkg)/param/global_costmap_params.yaml" command="load" />
16 |     <rosparam file="$(find navros_pkg)/param/dwa_local_planner_params.yaml" command="load" />
17 |     <rosparam file="$(find navros_pkg)/param/move_base_params.yaml" command="load" />
18 |     <rosparam file="$(find navros_pkg)/param/navfn_global_planner_params.yaml" command="load" />
19 |     
20 |     
21 |     <!-- reset frame_id parameters using user input data -->
22 |     <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
23 |     <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
24 |     <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
25 |     <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
26 |     <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>
27 | 
28 |     <remap from="odom" to="$(arg odom_topic)"/>
29 |     <remap from="scan" to="$(arg laser_topic)"/>
30 |   </node>
31 | </launch>
32 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/octomap.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |     <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
 3 |         <param name="resolution" value="0.05" />
 4 | 
 5 |         <!-- fixed map frame -->
 6 |         <param name="frame_id" type="string" value="map" />
 7 | 	
 8 | 	<param name="sensor_model/max_range" value="5.0" />
 9 | 
10 |         <!-- data source to integrate (PointCloud2) -->
11 |         <remap from="cloud_in" to="//kinect/depth/points" />
12 | 
13 |     </node>
14 | </launch>
15 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/pctl.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <launch>
 4 | 
 5 |     <!-- run pointcloud_to_laserscan node -->
 6 |     <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
 7 | 
 8 |         <remap from="cloud_in" to="/kinect/depth/points"/>
 9 |         <remap from="scan" to="/kinect/scan"/>
10 |         <rosparam>
11 |             target_frame: chassis # Leave disabled to output scan in pointcloud frame
12 |             transform_tolerance: 0.01
13 |             min_height: 0.0
14 |             max_height: 1.0
15 | 
16 |             angle_min: -1.5708 # -M_PI/2
17 |             angle_max: 1.5708 # M_PI/2
18 |             angle_increment: 0.0087 # M_PI/360.0
19 |             scan_time: 0.3333
20 |             range_min: 0.45
21 |             range_max: 4.0
22 |             use_inf: true
23 |             inf_epsilon: 1.0
24 | 
25 |             # Concurrency level, affects number of pointclouds queued for processing and number of threads used
26 |             # 0 : Detect number of cores
27 |             # 1 : Single threaded
28 |             # 2->inf : Parallelism level
29 |             concurrency_level: 1
30 |         </rosparam>
31 | 
32 |     </node>
33 | 
34 | </launch>
35 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/spawn_car.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <launch>
 3 | 
 4 | 	<!-- Spawn the urdf model -->
 5 | 	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find navros_pkg)/urdf/car.urdf.xacro'" />
 6 | 
 7 | 		
 8 | 	<arg name="x" default="0.0" />
 9 | 	<arg name="y" default="0.0" />
10 | 	<arg name="z" default="1.0" />
11 | 	
12 | 	<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -model car -param robot_description"/>
13 | 	
14 | </launch>
15 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/spawn_world.launch:
--------------------------------------------------------------------------------
1 | <launch>
2 |   <!-- Launch World -->
3 |   <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch"/>
4 |   ...
5 | </launch>
6 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/urdf_gazebo_view.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <launch>
 3 | 	
 4 | 	<!-- Spawn the car model -->
 5 | 	<include file="$(find navros_pkg)/launch/spawn_car.launch" />
 6 | 	
 7 | 	<!-- Publish fixed tfs -->	
 8 | 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
 9 | 		<remap from="/joint_states" to="/robot/joint_states" />
10 | 	</node>
11 | 
12 | 	<!-- Get laser scan readings -->
13 | 	<include file="$(find navros_pkg)/launch/pctl.launch" />
14 | 
15 | </launch>
16 | 


--------------------------------------------------------------------------------
/navros_pkg/launch/urdf_rviz_view.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find navros_pkg)/urdf/car.urdf.xacro'" />
 3 | 
 4 | 	<!-- send fake joint values -->
 5 | 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 6 | 		<param name="use_gui" value="TRUE"/>
 7 | 	</node>
 8 | 
 9 | 	<!-- Combine joint values -->
10 | 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
11 | 
12 | 	<!-- Show in Rviz-->
13 | 	<node name="rviz" pkg="rviz" type="rviz" args=""/>
14 | </launch>
15 | 


--------------------------------------------------------------------------------
/navros_pkg/maps/map.pgm:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/morou34/Navigation-of-an-Autonomous-Differential-Drive-Robot/949e3d187e54dd3ab9ba951b77cecd9f45a44412/navros_pkg/maps/map.pgm


--------------------------------------------------------------------------------
/navros_pkg/maps/map.yaml:
--------------------------------------------------------------------------------
1 | image: map.pgm
2 | resolution: 0.050000
3 | origin: [-12.200000, -15.400000, 0.000000]
4 | negate: 0
5 | occupied_thresh: 0.65
6 | free_thresh: 0.196
7 | 
8 | 


--------------------------------------------------------------------------------
/navros_pkg/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>navros_pkg</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The navros_pkg package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="yug@todo.todo">yug</maintainer>
11 | 
12 |   <license>TODO</license>
13 | 
14 |   <!--   <doc_depend>doxygen</doc_depend> -->
15 |   <buildtool_depend>catkin</buildtool_depend>
16 |   <build_depend>controller_manager</build_depend>
17 |   <build_depend>gazebo_ros</build_depend>
18 |   <build_depend>joint_state_publisher</build_depend>
19 |   <build_depend>robot_state_publisher</build_depend>
20 |   <build_depend>rospy</build_depend>
21 |   <build_depend>rviz</build_depend>
22 |   <build_depend>urdf</build_depend>
23 |   <build_export_depend>controller_manager</build_export_depend>
24 |   <build_export_depend>gazebo_ros</build_export_depend>
25 |   <build_export_depend>joint_state_publisher</build_export_depend>
26 |   <build_export_depend>robot_state_publisher</build_export_depend>
27 |   <build_export_depend>rospy</build_export_depend>
28 |   <build_export_depend>rviz</build_export_depend>
29 |   <build_export_depend>urdf</build_export_depend>
30 |   <exec_depend>controller_manager</exec_depend>
31 |   <exec_depend>gazebo_ros</exec_depend>
32 |   <exec_depend>joint_state_publisher</exec_depend>
33 |   <exec_depend>robot_state_publisher</exec_depend>
34 |   <exec_depend>rospy</exec_depend>
35 |   <exec_depend>rviz</exec_depend>
36 |   <exec_depend>urdf</exec_depend>
37 | 
38 | 
39 |   <!-- The export tag contains other, unspecified, tags -->
40 |   <export>
41 |     <!-- Other tools can request additional information be placed here -->
42 | 
43 |   </export>
44 | </package>
45 | 


--------------------------------------------------------------------------------
/navros_pkg/param/costmap_common_params.yaml:
--------------------------------------------------------------------------------
 1 | 
 2 | footprint: [[-0.3, -0.2], [-0.3, 0.2], [0.3, 0.2], [0.3, -0.2]]
 3 | 
 4 | obstacle_layer:
 5 |   enabled:              true
 6 |   max_obstacle_height:  0.6
 7 |   obstacle_range: 2.5
 8 |   raytrace_range: 3.0
 9 |   observation_sources:  scan 
10 |   scan:
11 |     data_type: LaserScan
12 |     topic: scan
13 |     marking: true
14 |     clearing: true
15 |     min_obstacle_height: 0.25
16 |     max_obstacle_height: 0.35
17 |   
18 | 
19 | inflation_layer:
20 |   enabled:              true
21 |   cost_scaling_factor:  5.0  
22 |   inflation_radius:     0.5  
23 | 
24 | static_layer:
25 |   enabled:              true
26 |   
27 | 
28 | 


--------------------------------------------------------------------------------
/navros_pkg/param/dwa_local_planner_params.yaml:
--------------------------------------------------------------------------------
 1 | DWAPlannerROS:
 2 | 
 3 | # Robot Configuration Parameters
 4 |   max_vel_x: 0.5  # 0.55
 5 |   min_vel_x: 0.0 
 6 | 
 7 |   max_vel_y: 0.0  # diff drive robot
 8 |   min_vel_y: 0.0  # diff drive robot
 9 | 
10 |   max_trans_vel: 0.5 # choose slightly less than the base's capability
11 |   min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
12 |   trans_stopped_vel: 0.1
13 | 
14 | 
15 |   max_rot_vel: 5.0  # choose slightly less than the base's capability
16 |   min_rot_vel: 0.4  # this is the min angular velocity when there is negligible translational velocity
17 |   rot_stopped_vel: 0.4
18 |   
19 |   acc_lim_x: 1.0 # maximum is theoretically 2.0, but we 
20 |   acc_lim_theta: 2.0
21 |   acc_lim_y: 0.0      # diff drive robot
22 | 
23 | # Goal Tolerance Parameters
24 |   yaw_goal_tolerance: 0.3 # 0.05
25 |   xy_goal_tolerance: 0.15  # 0.10
26 |   # latch_xy_goal_tolerance: false
27 | 
28 | # Forward Simulation Parameters
29 |   sim_time: 1.0       # 1.7
30 |   vx_samples: 6       # 3
31 |   vy_samples: 1       # diff drive robot, there is only one sample
32 |   vtheta_samples: 20  # 20
33 | 
34 | # Trajectory Scoring Parameters
35 |   path_distance_bias: 64.0      # 32.0   - weighting for how much it should stick to the global path plan
36 |   goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
37 |   occdist_scale: 0.5            # 0.01   - weighting for how much the controller should avoid obstacles
38 |   forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
39 |   stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
40 |   scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint
41 |   max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.
42 | 
43 | # Oscillation Prevention Parameters
44 |   oscillation_reset_dist: 0.05  # 0.05   - how far to travel before resetting oscillation flags
45 | 
46 | # Debugging
47 |   publish_traj_pc : true
48 |   publish_cost_grid_pc: true
49 |   global_frame_id: odom
50 | 
51 | 


--------------------------------------------------------------------------------
/navros_pkg/param/global_costmap_params.yaml:
--------------------------------------------------------------------------------
 1 | global_costmap:
 2 |    global_frame: /map
 3 |    static_map: true
 4 |    rolling_window: false
 5 |    plugins:
 6 |      - {name: static_layer,            type: "costmap_2d::StaticLayer"}
 7 |      - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
 8 |      - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
 9 | 
10 | 


--------------------------------------------------------------------------------
/navros_pkg/param/local_costmap_params.yaml:
--------------------------------------------------------------------------------
 1 | local_costmap:
 2 |    global_frame: odom
 3 |    robot_base_frame: /base_footprint
 4 |    update_frequency: 5.0
 5 |    publish_frequency: 2.0
 6 |    static_map: false
 7 |    rolling_window: true
 8 |    width: 4.0
 9 |    height: 4.0
10 |    plugins:
11 |     - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
12 |     - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
13 | 


--------------------------------------------------------------------------------
/navros_pkg/param/move_base_params.yaml:
--------------------------------------------------------------------------------
 1 | # Move base node parameters. For full documentation of the parameters in this file, please see
 2 | #
 3 | #  http://www.ros.org/wiki/move_base
 4 | #
 5 | shutdown_costmaps: false
 6 | 
 7 | controller_frequency: 5.0
 8 | controller_patience: 3.0
 9 | 
10 | 
11 | planner_frequency: 1.0
12 | planner_patience: 5.0
13 | 
14 | oscillation_timeout: 10.0
15 | oscillation_distance: 0.2
16 | 
17 | 
18 | base_local_planner: "dwa_local_planner/DWAPlannerROS"
19 | base_global_planner: "navfn/NavfnROS" 
20 | 
21 | 
22 | recovery_behavior_enabled: true
23 | 
24 | 
25 | 


--------------------------------------------------------------------------------
/navros_pkg/param/navfn_global_planner_params.yaml:
--------------------------------------------------------------------------------
 1 | 
 2 | NavfnROS:
 3 |   visualize_potential: false    #Publish potential for rviz as pointcloud2, not really helpful, default false
 4 |   allow_unknown: false          #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true
 5 |                                 #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work
 6 |   planner_window_x: 0.0         #Specifies the x size of an optional window to restrict the planner to, default 0.0
 7 |   planner_window_y: 0.0         #Specifies the y size of an optional window to restrict the planner to, default 0.0
 8 |   
 9 |   default_tolerance: 1.0        #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0
10 |                                 #The area is always searched, so could be slow for big values
11 | 


--------------------------------------------------------------------------------
/navros_pkg/rviz/kinect.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 |       Splitter Ratio: 0.5
 10 |     Tree Height: 454
 11 |   - Class: rviz/Selection
 12 |     Name: Selection
 13 |   - Class: rviz/Tool Properties
 14 |     Expanded:
 15 |       - /2D Pose Estimate1
 16 |       - /2D Nav Goal1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.588679016
 20 |   - Class: rviz/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 |   - Class: rviz/Time
 26 |     Experimental: false
 27 |     Name: Time
 28 |     SyncMode: 0
 29 |     SyncSource: PointCloud2
 30 | Visualization Manager:
 31 |   Class: ""
 32 |   Displays:
 33 |     - Alpha: 0.5
 34 |       Cell Size: 1
 35 |       Class: rviz/Grid
 36 |       Color: 160; 160; 164
 37 |       Enabled: true
 38 |       Line Style:
 39 |         Line Width: 0.0299999993
 40 |         Value: Lines
 41 |       Name: Grid
 42 |       Normal Cell Count: 0
 43 |       Offset:
 44 |         X: 0
 45 |         Y: 0
 46 |         Z: 0
 47 |       Plane: XY
 48 |       Plane Cell Count: 10
 49 |       Reference Frame: <Fixed Frame>
 50 |       Value: true
 51 |     - Alpha: 1
 52 |       Class: rviz/RobotModel
 53 |       Collision Enabled: false
 54 |       Enabled: true
 55 |       Links:
 56 |         All Links Enabled: true
 57 |         Expand Joint Details: false
 58 |         Expand Link Details: false
 59 |         Expand Tree: false
 60 |         Link Tree Style: Links in Alphabetic Order
 61 |         chassis:
 62 |           Alpha: 1
 63 |           Show Axes: false
 64 |           Show Trail: false
 65 |           Value: true
 66 |         kinect:
 67 |           Alpha: 1
 68 |           Show Axes: false
 69 |           Show Trail: false
 70 |           Value: true
 71 |         kinect_link:
 72 |           Alpha: 1
 73 |           Show Axes: false
 74 |           Show Trail: false
 75 |         left_wheel:
 76 |           Alpha: 1
 77 |           Show Axes: false
 78 |           Show Trail: false
 79 |           Value: true
 80 |         right_wheel:
 81 |           Alpha: 1
 82 |           Show Axes: false
 83 |           Show Trail: false
 84 |           Value: true
 85 |       Name: RobotModel
 86 |       Robot Description: robot_description
 87 |       TF Prefix: ""
 88 |       Update Interval: 0
 89 |       Value: true
 90 |       Visual Enabled: true
 91 |     - Class: rviz/TF
 92 |       Enabled: true
 93 |       Frame Timeout: 15
 94 |       Frames:
 95 |         All Enabled: true
 96 |         chassis:
 97 |           Value: true
 98 |         kinect:
 99 |           Value: true
100 |         kinect_link:
101 |           Value: true
102 |         left_wheel:
103 |           Value: true
104 |         odom:
105 |           Value: true
106 |         right_wheel:
107 |           Value: true
108 |       Marker Scale: 1
109 |       Name: TF
110 |       Show Arrows: true
111 |       Show Axes: true
112 |       Show Names: true
113 |       Tree:
114 |         odom:
115 |           chassis:
116 |             kinect:
117 |               {}
118 |             kinect_link:
119 |               {}
120 |             left_wheel:
121 |               {}
122 |             right_wheel:
123 |               {}
124 |       Update Interval: 0
125 |       Value: true
126 |     - Alpha: 1
127 |       Autocompute Intensity Bounds: true
128 |       Autocompute Value Bounds:
129 |         Max Value: 10
130 |         Min Value: -10
131 |         Value: true
132 |       Axis: Z
133 |       Channel Name: intensity
134 |       Class: rviz/PointCloud2
135 |       Color: 255; 255; 255
136 |       Color Transformer: RGB8
137 |       Decay Time: 0
138 |       Enabled: true
139 |       Invert Rainbow: false
140 |       Max Color: 255; 255; 255
141 |       Max Intensity: 4096
142 |       Min Color: 0; 0; 0
143 |       Min Intensity: 0
144 |       Name: PointCloud2
145 |       Position Transformer: XYZ
146 |       Queue Size: 10
147 |       Selectable: true
148 |       Size (Pixels): 3
149 |       Size (m): 0.00999999978
150 |       Style: Flat Squares
151 |       Topic: /kinect/depth/points
152 |       Unreliable: false
153 |       Use Fixed Frame: true
154 |       Use rainbow: true
155 |       Value: true
156 |     - Class: rviz/Camera
157 |       Enabled: true
158 |       Image Rendering: background and overlay
159 |       Image Topic: /kinect/rgb/image_raw
160 |       Name: Camera
161 |       Overlay Alpha: 0.5
162 |       Queue Size: 2
163 |       Transport Hint: raw
164 |       Unreliable: false
165 |       Value: true
166 |       Visibility:
167 |         Grid: true
168 |         PointCloud2: true
169 |         RobotModel: true
170 |         TF: true
171 |         Value: true
172 |       Zoom Factor: 1
173 |   Enabled: true
174 |   Global Options:
175 |     Background Color: 48; 48; 48
176 |     Default Light: true
177 |     Fixed Frame: odom
178 |     Frame Rate: 30
179 |   Name: root
180 |   Tools:
181 |     - Class: rviz/Interact
182 |       Hide Inactive Objects: true
183 |     - Class: rviz/MoveCamera
184 |     - Class: rviz/Select
185 |     - Class: rviz/FocusCamera
186 |     - Class: rviz/Measure
187 |     - Class: rviz/SetInitialPose
188 |       Topic: /initialpose
189 |     - Class: rviz/SetGoal
190 |       Topic: /move_base_simple/goal
191 |     - Class: rviz/PublishPoint
192 |       Single click: true
193 |       Topic: /clicked_point
194 |   Value: true
195 |   Views:
196 |     Current:
197 |       Class: rviz/Orbit
198 |       Distance: 6.43286276
199 |       Enable Stereo Rendering:
200 |         Stereo Eye Separation: 0.0599999987
201 |         Stereo Focal Distance: 1
202 |         Swap Stereo Eyes: false
203 |         Value: false
204 |       Focal Point:
205 |         X: -0.28541708
206 |         Y: -0.0437853597
207 |         Z: -0.0722417384
208 |       Focal Shape Fixed Size: true
209 |       Focal Shape Size: 0.0500000007
210 |       Invert Z Axis: false
211 |       Name: Current View
212 |       Near Clip Distance: 0.00999999978
213 |       Pitch: 0.544796765
214 |       Target Frame: <Fixed Frame>
215 |       Value: Orbit (rviz)
216 |       Yaw: 1.67540514
217 |     Saved: ~
218 | Window Geometry:
219 |   Camera:
220 |     collapsed: false
221 |   Displays:
222 |     collapsed: false
223 |   Height: 1056
224 |   Hide Left Dock: false
225 |   Hide Right Dock: true
226 |   QMainWindow State: 000000ff00000000fd00000004000000000000018d00000388fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000260000000e200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000021f000000bf0000000000000000fb0000000c00430061006d00650072006101000002b8000000f80000000000000000fb0000000c00430061006d006500720061010000028e000001220000001b00ffffff000000010000011e00000231fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000231000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073500000046fc0100000002fb0000000800540069006d0065010000000000000735000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a20000038800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
227 |   Selection:
228 |     collapsed: false
229 |   Time:
230 |     collapsed: false
231 |   Tool Properties:
232 |     collapsed: false
233 |   Views:
234 |     collapsed: true
235 |   Width: 1845
236 |   X: 75
237 |   Y: 24
238 | 


--------------------------------------------------------------------------------
/navros_pkg/rviz/laser.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |       Splitter Ratio: 0.5
  9 |     Tree Height: 750
 10 |   - Class: rviz/Selection
 11 |     Name: Selection
 12 |   - Class: rviz/Tool Properties
 13 |     Expanded:
 14 |       - /2D Pose Estimate1
 15 |       - /2D Nav Goal1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.588679016
 19 |   - Class: rviz/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: LaserScan
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.0299999993
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Alpha: 1
 51 |       Class: rviz/RobotModel
 52 |       Collision Enabled: false
 53 |       Enabled: true
 54 |       Links:
 55 |         All Links Enabled: true
 56 |         Expand Joint Details: false
 57 |         Expand Link Details: false
 58 |         Expand Tree: false
 59 |         Link Tree Style: Links in Alphabetic Order
 60 |         chassis:
 61 |           Alpha: 1
 62 |           Show Axes: false
 63 |           Show Trail: false
 64 |           Value: true
 65 |         kinect:
 66 |           Alpha: 1
 67 |           Show Axes: false
 68 |           Show Trail: false
 69 |           Value: true
 70 |         kinect_link:
 71 |           Alpha: 1
 72 |           Show Axes: false
 73 |           Show Trail: false
 74 |         left_wheel:
 75 |           Alpha: 1
 76 |           Show Axes: false
 77 |           Show Trail: false
 78 |           Value: true
 79 |         right_wheel:
 80 |           Alpha: 1
 81 |           Show Axes: false
 82 |           Show Trail: false
 83 |           Value: true
 84 |       Name: RobotModel
 85 |       Robot Description: robot_description
 86 |       TF Prefix: ""
 87 |       Update Interval: 0
 88 |       Value: true
 89 |       Visual Enabled: true
 90 |     - Class: rviz/TF
 91 |       Enabled: true
 92 |       Frame Timeout: 15
 93 |       Frames:
 94 |         All Enabled: true
 95 |         chassis:
 96 |           Value: true
 97 |         kinect:
 98 |           Value: true
 99 |         kinect_link:
100 |           Value: true
101 |         left_wheel:
102 |           Value: true
103 |         odom:
104 |           Value: true
105 |         right_wheel:
106 |           Value: true
107 |       Marker Scale: 1
108 |       Name: TF
109 |       Show Arrows: true
110 |       Show Axes: true
111 |       Show Names: true
112 |       Tree:
113 |         odom:
114 |           chassis:
115 |             kinect:
116 |               {}
117 |             kinect_link:
118 |               {}
119 |             left_wheel:
120 |               {}
121 |             right_wheel:
122 |               {}
123 |       Update Interval: 0
124 |       Value: true
125 |     - Alpha: 1
126 |       Autocompute Intensity Bounds: true
127 |       Autocompute Value Bounds:
128 |         Max Value: 10
129 |         Min Value: -10
130 |         Value: true
131 |       Axis: Z
132 |       Channel Name: intensity
133 |       Class: rviz/LaserScan
134 |       Color: 255; 255; 255
135 |       Color Transformer: Intensity
136 |       Decay Time: 0
137 |       Enabled: true
138 |       Invert Rainbow: false
139 |       Max Color: 255; 255; 255
140 |       Max Intensity: 4096
141 |       Min Color: 0; 0; 0
142 |       Min Intensity: 0
143 |       Name: LaserScan
144 |       Position Transformer: XYZ
145 |       Queue Size: 10
146 |       Selectable: true
147 |       Size (Pixels): 3
148 |       Size (m): 0.00999999978
149 |       Style: Flat Squares
150 |       Topic: /kinect/scan
151 |       Unreliable: false
152 |       Use Fixed Frame: true
153 |       Use rainbow: true
154 |       Value: true
155 |   Enabled: true
156 |   Global Options:
157 |     Background Color: 48; 48; 48
158 |     Default Light: true
159 |     Fixed Frame: odom
160 |     Frame Rate: 30
161 |   Name: root
162 |   Tools:
163 |     - Class: rviz/Interact
164 |       Hide Inactive Objects: true
165 |     - Class: rviz/MoveCamera
166 |     - Class: rviz/Select
167 |     - Class: rviz/FocusCamera
168 |     - Class: rviz/Measure
169 |     - Class: rviz/SetInitialPose
170 |       Topic: /initialpose
171 |     - Class: rviz/SetGoal
172 |       Topic: /move_base_simple/goal
173 |     - Class: rviz/PublishPoint
174 |       Single click: true
175 |       Topic: /clicked_point
176 |   Value: true
177 |   Views:
178 |     Current:
179 |       Class: rviz/Orbit
180 |       Distance: 16.2611046
181 |       Enable Stereo Rendering:
182 |         Stereo Eye Separation: 0.0599999987
183 |         Stereo Focal Distance: 1
184 |         Swap Stereo Eyes: false
185 |         Value: false
186 |       Focal Point:
187 |         X: -0.28541708
188 |         Y: -0.0437853597
189 |         Z: -0.0722417384
190 |       Focal Shape Fixed Size: true
191 |       Focal Shape Size: 0.0500000007
192 |       Invert Z Axis: false
193 |       Name: Current View
194 |       Near Clip Distance: 0.00999999978
195 |       Pitch: 0.975397944
196 |       Target Frame: <Fixed Frame>
197 |       Value: Orbit (rviz)
198 |       Yaw: 3.33540511
199 |     Saved: ~
200 | Window Geometry:
201 |   Displays:
202 |     collapsed: false
203 |   Height: 1056
204 |   Hide Left Dock: false
205 |   Hide Right Dock: true
206 |   QMainWindow State: 000000ff00000000fd00000004000000000000018d00000388fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000388000000e200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000021f000000bf0000000000000000fb0000000c00430061006d00650072006101000002b8000000f80000000000000000000000010000011e00000231fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000231000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073500000046fc0100000002fb0000000800540069006d0065010000000000000735000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a20000038800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
207 |   Selection:
208 |     collapsed: false
209 |   Time:
210 |     collapsed: false
211 |   Tool Properties:
212 |     collapsed: false
213 |   Views:
214 |     collapsed: true
215 |   Width: 1845
216 |   X: 75
217 |   Y: 24
218 | 


--------------------------------------------------------------------------------
/navros_pkg/rviz/map.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 |       Splitter Ratio: 0.5
 10 |     Tree Height: 750
 11 |   - Class: rviz/Selection
 12 |     Name: Selection
 13 |   - Class: rviz/Tool Properties
 14 |     Expanded:
 15 |       - /2D Pose Estimate1
 16 |       - /2D Nav Goal1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.588679016
 20 |   - Class: rviz/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 |   - Class: rviz/Time
 26 |     Experimental: false
 27 |     Name: Time
 28 |     SyncMode: 0
 29 |     SyncSource: LaserScan
 30 | Visualization Manager:
 31 |   Class: ""
 32 |   Displays:
 33 |     - Alpha: 0.5
 34 |       Cell Size: 1
 35 |       Class: rviz/Grid
 36 |       Color: 160; 160; 164
 37 |       Enabled: true
 38 |       Line Style:
 39 |         Line Width: 0.0299999993
 40 |         Value: Lines
 41 |       Name: Grid
 42 |       Normal Cell Count: 0
 43 |       Offset:
 44 |         X: 0
 45 |         Y: 0
 46 |         Z: 0
 47 |       Plane: XY
 48 |       Plane Cell Count: 10
 49 |       Reference Frame: <Fixed Frame>
 50 |       Value: true
 51 |     - Alpha: 1
 52 |       Class: rviz/RobotModel
 53 |       Collision Enabled: false
 54 |       Enabled: true
 55 |       Links:
 56 |         All Links Enabled: true
 57 |         Expand Joint Details: false
 58 |         Expand Link Details: false
 59 |         Expand Tree: false
 60 |         Link Tree Style: Links in Alphabetic Order
 61 |         chassis:
 62 |           Alpha: 1
 63 |           Show Axes: false
 64 |           Show Trail: false
 65 |           Value: true
 66 |         kinect:
 67 |           Alpha: 1
 68 |           Show Axes: false
 69 |           Show Trail: false
 70 |           Value: true
 71 |         kinect_link:
 72 |           Alpha: 1
 73 |           Show Axes: false
 74 |           Show Trail: false
 75 |         left_wheel:
 76 |           Alpha: 1
 77 |           Show Axes: false
 78 |           Show Trail: false
 79 |           Value: true
 80 |         right_wheel:
 81 |           Alpha: 1
 82 |           Show Axes: false
 83 |           Show Trail: false
 84 |           Value: true
 85 |       Name: RobotModel
 86 |       Robot Description: robot_description
 87 |       TF Prefix: ""
 88 |       Update Interval: 0
 89 |       Value: true
 90 |       Visual Enabled: true
 91 |     - Class: rviz/TF
 92 |       Enabled: true
 93 |       Frame Timeout: 15
 94 |       Frames:
 95 |         All Enabled: true
 96 |         chassis:
 97 |           Value: true
 98 |         kinect:
 99 |           Value: true
100 |         kinect_link:
101 |           Value: true
102 |         left_wheel:
103 |           Value: true
104 |         map:
105 |           Value: true
106 |         odom:
107 |           Value: true
108 |         right_wheel:
109 |           Value: true
110 |       Marker Scale: 1
111 |       Name: TF
112 |       Show Arrows: true
113 |       Show Axes: true
114 |       Show Names: true
115 |       Tree:
116 |         map:
117 |           {}
118 |         odom:
119 |           chassis:
120 |             kinect:
121 |               {}
122 |             kinect_link:
123 |               {}
124 |             left_wheel:
125 |               {}
126 |             right_wheel:
127 |               {}
128 |       Update Interval: 0
129 |       Value: true
130 |     - Alpha: 1
131 |       Autocompute Intensity Bounds: true
132 |       Autocompute Value Bounds:
133 |         Max Value: 10
134 |         Min Value: -10
135 |         Value: true
136 |       Axis: Z
137 |       Channel Name: intensity
138 |       Class: rviz/LaserScan
139 |       Color: 255; 255; 255
140 |       Color Transformer: Intensity
141 |       Decay Time: 0
142 |       Enabled: true
143 |       Invert Rainbow: false
144 |       Max Color: 255; 255; 255
145 |       Max Intensity: 4096
146 |       Min Color: 0; 0; 0
147 |       Min Intensity: 0
148 |       Name: LaserScan
149 |       Position Transformer: XYZ
150 |       Queue Size: 10
151 |       Selectable: true
152 |       Size (Pixels): 3
153 |       Size (m): 0.00999999978
154 |       Style: Flat Squares
155 |       Topic: /kinect/scan
156 |       Unreliable: false
157 |       Use Fixed Frame: true
158 |       Use rainbow: true
159 |       Value: true
160 |     - Alpha: 0.699999988
161 |       Class: rviz/Map
162 |       Color Scheme: map
163 |       Draw Behind: false
164 |       Enabled: true
165 |       Name: Map
166 |       Topic: /map
167 |       Unreliable: false
168 |       Use Timestamp: false
169 |       Value: true
170 |   Enabled: true
171 |   Global Options:
172 |     Background Color: 48; 48; 48
173 |     Default Light: true
174 |     Fixed Frame: odom
175 |     Frame Rate: 30
176 |   Name: root
177 |   Tools:
178 |     - Class: rviz/Interact
179 |       Hide Inactive Objects: true
180 |     - Class: rviz/MoveCamera
181 |     - Class: rviz/Select
182 |     - Class: rviz/FocusCamera
183 |     - Class: rviz/Measure
184 |     - Class: rviz/SetInitialPose
185 |       Topic: /initialpose
186 |     - Class: rviz/SetGoal
187 |       Topic: /move_base_simple/goal
188 |     - Class: rviz/PublishPoint
189 |       Single click: true
190 |       Topic: /clicked_point
191 |   Value: true
192 |   Views:
193 |     Current:
194 |       Class: rviz/Orbit
195 |       Distance: 16.2611046
196 |       Enable Stereo Rendering:
197 |         Stereo Eye Separation: 0.0599999987
198 |         Stereo Focal Distance: 1
199 |         Swap Stereo Eyes: false
200 |         Value: false
201 |       Focal Point:
202 |         X: -0.28541708
203 |         Y: -0.0437853597
204 |         Z: -0.0722417384
205 |       Focal Shape Fixed Size: true
206 |       Focal Shape Size: 0.0500000007
207 |       Invert Z Axis: false
208 |       Name: Current View
209 |       Near Clip Distance: 0.00999999978
210 |       Pitch: 0.975397944
211 |       Target Frame: <Fixed Frame>
212 |       Value: Orbit (rviz)
213 |       Yaw: 3.33540511
214 |     Saved: ~
215 | Window Geometry:
216 |   Displays:
217 |     collapsed: false
218 |   Height: 1056
219 |   Hide Left Dock: false
220 |   Hide Right Dock: true
221 |   QMainWindow State: 000000ff00000000fd00000004000000000000018d00000388fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000388000000e200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000021f000000bf0000000000000000fb0000000c00430061006d00650072006101000002b8000000f80000000000000000000000010000011e00000231fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000231000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073500000046fc0100000002fb0000000800540069006d0065010000000000000735000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a20000038800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
222 |   Selection:
223 |     collapsed: false
224 |   Time:
225 |     collapsed: false
226 |   Tool Properties:
227 |     collapsed: false
228 |   Views:
229 |     collapsed: true
230 |   Width: 1845
231 |   X: 75
232 |   Y: 24
233 | 


--------------------------------------------------------------------------------
/navros_pkg/rviz/navigate.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |       Splitter Ratio: 0.5
  9 |     Tree Height: 750
 10 |   - Class: rviz/Selection
 11 |     Name: Selection
 12 |   - Class: rviz/Tool Properties
 13 |     Expanded:
 14 |       - /2D Pose Estimate1
 15 |       - /2D Nav Goal1
 16 |       - /Publish Point1
 17 |     Name: Tool Properties
 18 |     Splitter Ratio: 0.588679016
 19 |   - Class: rviz/Views
 20 |     Expanded:
 21 |       - /Current View1
 22 |     Name: Views
 23 |     Splitter Ratio: 0.5
 24 |   - Class: rviz/Time
 25 |     Experimental: false
 26 |     Name: Time
 27 |     SyncMode: 0
 28 |     SyncSource: LaserScan
 29 | Visualization Manager:
 30 |   Class: ""
 31 |   Displays:
 32 |     - Alpha: 0.5
 33 |       Cell Size: 1
 34 |       Class: rviz/Grid
 35 |       Color: 160; 160; 164
 36 |       Enabled: true
 37 |       Line Style:
 38 |         Line Width: 0.0299999993
 39 |         Value: Lines
 40 |       Name: Grid
 41 |       Normal Cell Count: 0
 42 |       Offset:
 43 |         X: 0
 44 |         Y: 0
 45 |         Z: 0
 46 |       Plane: XY
 47 |       Plane Cell Count: 10
 48 |       Reference Frame: <Fixed Frame>
 49 |       Value: true
 50 |     - Alpha: 1
 51 |       Class: rviz/RobotModel
 52 |       Collision Enabled: false
 53 |       Enabled: true
 54 |       Links:
 55 |         All Links Enabled: true
 56 |         Expand Joint Details: false
 57 |         Expand Link Details: false
 58 |         Expand Tree: false
 59 |         Link Tree Style: Links in Alphabetic Order
 60 |         chassis:
 61 |           Alpha: 1
 62 |           Show Axes: false
 63 |           Show Trail: false
 64 |           Value: true
 65 |         kinect:
 66 |           Alpha: 1
 67 |           Show Axes: false
 68 |           Show Trail: false
 69 |           Value: true
 70 |         kinect_link:
 71 |           Alpha: 1
 72 |           Show Axes: false
 73 |           Show Trail: false
 74 |         left_wheel:
 75 |           Alpha: 1
 76 |           Show Axes: false
 77 |           Show Trail: false
 78 |           Value: true
 79 |         right_wheel:
 80 |           Alpha: 1
 81 |           Show Axes: false
 82 |           Show Trail: false
 83 |           Value: true
 84 |       Name: RobotModel
 85 |       Robot Description: robot_description
 86 |       TF Prefix: ""
 87 |       Update Interval: 0
 88 |       Value: true
 89 |       Visual Enabled: true
 90 |     - Class: rviz/TF
 91 |       Enabled: true
 92 |       Frame Timeout: 15
 93 |       Frames:
 94 |         All Enabled: true
 95 |         chassis:
 96 |           Value: true
 97 |         kinect:
 98 |           Value: true
 99 |         kinect_link:
100 |           Value: true
101 |         left_wheel:
102 |           Value: true
103 |         map:
104 |           Value: true
105 |         odom:
106 |           Value: true
107 |         right_wheel:
108 |           Value: true
109 |       Marker Scale: 1
110 |       Name: TF
111 |       Show Arrows: true
112 |       Show Axes: true
113 |       Show Names: true
114 |       Tree:
115 |         map:
116 |           odom:
117 |             chassis:
118 |               kinect:
119 |                 {}
120 |               kinect_link:
121 |                 {}
122 |               left_wheel:
123 |                 {}
124 |               right_wheel:
125 |                 {}
126 |       Update Interval: 0
127 |       Value: true
128 |     - Alpha: 1
129 |       Autocompute Intensity Bounds: true
130 |       Autocompute Value Bounds:
131 |         Max Value: 10
132 |         Min Value: -10
133 |         Value: true
134 |       Axis: Z
135 |       Channel Name: intensity
136 |       Class: rviz/LaserScan
137 |       Color: 255; 255; 255
138 |       Color Transformer: Intensity
139 |       Decay Time: 0
140 |       Enabled: true
141 |       Invert Rainbow: false
142 |       Max Color: 255; 255; 255
143 |       Max Intensity: 4096
144 |       Min Color: 0; 0; 0
145 |       Min Intensity: 0
146 |       Name: LaserScan
147 |       Position Transformer: XYZ
148 |       Queue Size: 10
149 |       Selectable: true
150 |       Size (Pixels): 3
151 |       Size (m): 0.00999999978
152 |       Style: Flat Squares
153 |       Topic: /kinect/scan
154 |       Unreliable: false
155 |       Use Fixed Frame: true
156 |       Use rainbow: true
157 |       Value: true
158 |     - Alpha: 0.699999988
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 |       Arrow Length: 0.300000012
170 |       Axes Length: 0.300000012
171 |       Axes Radius: 0.00999999978
172 |       Class: rviz/PoseArray
173 |       Color: 255; 25; 0
174 |       Enabled: true
175 |       Head Length: 0.0700000003
176 |       Head Radius: 0.0299999993
177 |       Name: PoseArray
178 |       Shaft Length: 0.230000004
179 |       Shaft Radius: 0.00999999978
180 |       Shape: Arrow (Flat)
181 |       Topic: /particlecloud
182 |       Unreliable: false
183 |       Value: true
184 |     - Alpha: 1
185 |       Buffer Length: 1
186 |       Class: rviz/Path
187 |       Color: 25; 255; 0
188 |       Enabled: true
189 |       Head Diameter: 0.300000012
190 |       Head Length: 0.200000003
191 |       Length: 0.300000012
192 |       Line Style: Lines
193 |       Line Width: 0.0299999993
194 |       Name: Path
195 |       Offset:
196 |         X: 0
197 |         Y: 0
198 |         Z: 0
199 |       Pose Color: 255; 85; 255
200 |       Pose Style: None
201 |       Radius: 0.0299999993
202 |       Shaft Diameter: 0.100000001
203 |       Shaft Length: 0.100000001
204 |       Topic: /move_base/NavfnROS/plan
205 |       Unreliable: false
206 |       Value: true
207 |     - Alpha: 0.699999988
208 |       Class: rviz/Map
209 |       Color Scheme: costmap
210 |       Draw Behind: false
211 |       Enabled: true
212 |       Name: Map
213 |       Topic: /move_base/global_costmap/costmap
214 |       Unreliable: false
215 |       Use Timestamp: false
216 |       Value: true
217 |   Enabled: true
218 |   Global Options:
219 |     Background Color: 48; 48; 48
220 |     Default Light: true
221 |     Fixed Frame: map
222 |     Frame Rate: 30
223 |   Name: root
224 |   Tools:
225 |     - Class: rviz/Interact
226 |       Hide Inactive Objects: true
227 |     - Class: rviz/MoveCamera
228 |     - Class: rviz/Select
229 |     - Class: rviz/FocusCamera
230 |     - Class: rviz/Measure
231 |     - Class: rviz/SetInitialPose
232 |       Topic: /initialpose
233 |     - Class: rviz/SetGoal
234 |       Topic: /move_base_simple/goal
235 |     - Class: rviz/PublishPoint
236 |       Single click: true
237 |       Topic: /clicked_point
238 |   Value: true
239 |   Views:
240 |     Current:
241 |       Class: rviz/Orbit
242 |       Distance: 20.6048012
243 |       Enable Stereo Rendering:
244 |         Stereo Eye Separation: 0.0599999987
245 |         Stereo Focal Distance: 1
246 |         Swap Stereo Eyes: false
247 |         Value: false
248 |       Focal Point:
249 |         X: -0.28541708
250 |         Y: -0.0437853597
251 |         Z: -0.0722417384
252 |       Focal Shape Fixed Size: true
253 |       Focal Shape Size: 0.0500000007
254 |       Invert Z Axis: false
255 |       Name: Current View
256 |       Near Clip Distance: 0.00999999978
257 |       Pitch: 1.39979637
258 |       Target Frame: <Fixed Frame>
259 |       Value: Orbit (rviz)
260 |       Yaw: 3.25540352
261 |     Saved: ~
262 | Window Geometry:
263 |   Displays:
264 |     collapsed: false
265 |   Height: 1056
266 |   Hide Left Dock: false
267 |   Hide Right Dock: true
268 |   QMainWindow State: 000000ff00000000fd00000004000000000000018d00000388fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000388000000e200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000021f000000bf0000000000000000fb0000000c00430061006d00650072006101000002b8000000f80000000000000000000000010000011e00000231fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000231000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073500000046fc0100000002fb0000000800540069006d0065010000000000000735000003cc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a20000038800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
269 |   Selection:
270 |     collapsed: false
271 |   Time:
272 |     collapsed: false
273 |   Tool Properties:
274 |     collapsed: false
275 |   Views:
276 |     collapsed: true
277 |   Width: 1845
278 |   X: 75
279 |   Y: 24
280 | 


--------------------------------------------------------------------------------
/navros_pkg/rviz/octomap.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 |         - /Map1
 10 |         - /MarkerArray1
 11 |       Splitter Ratio: 0.5
 12 |     Tree Height: 767
 13 |   - Class: rviz/Selection
 14 |     Name: Selection
 15 |   - Class: rviz/Tool Properties
 16 |     Expanded:
 17 |       - /2D Pose Estimate1
 18 |       - /2D Nav Goal1
 19 |       - /Publish Point1
 20 |     Name: Tool Properties
 21 |     Splitter Ratio: 0.588679016
 22 |   - Class: rviz/Views
 23 |     Expanded:
 24 |       - /Current View1
 25 |     Name: Views
 26 |     Splitter Ratio: 0.5
 27 |   - Class: rviz/Time
 28 |     Experimental: false
 29 |     Name: Time
 30 |     SyncMode: 0
 31 |     SyncSource: LaserScan
 32 | Toolbars:
 33 |   toolButtonStyle: 2
 34 | Visualization Manager:
 35 |   Class: ""
 36 |   Displays:
 37 |     - Alpha: 0.5
 38 |       Cell Size: 1
 39 |       Class: rviz/Grid
 40 |       Color: 160; 160; 164
 41 |       Enabled: true
 42 |       Line Style:
 43 |         Line Width: 0.0299999993
 44 |         Value: Lines
 45 |       Name: Grid
 46 |       Normal Cell Count: 0
 47 |       Offset:
 48 |         X: 0
 49 |         Y: 0
 50 |         Z: 0
 51 |       Plane: XY
 52 |       Plane Cell Count: 10
 53 |       Reference Frame: <Fixed Frame>
 54 |       Value: true
 55 |     - Alpha: 1
 56 |       Class: rviz/RobotModel
 57 |       Collision Enabled: false
 58 |       Enabled: true
 59 |       Links:
 60 |         All Links Enabled: true
 61 |         Expand Joint Details: false
 62 |         Expand Link Details: false
 63 |         Expand Tree: false
 64 |         Link Tree Style: Links in Alphabetic Order
 65 |         chassis:
 66 |           Alpha: 1
 67 |           Show Axes: false
 68 |           Show Trail: false
 69 |           Value: true
 70 |         kinect:
 71 |           Alpha: 1
 72 |           Show Axes: false
 73 |           Show Trail: false
 74 |           Value: true
 75 |         kinect_link:
 76 |           Alpha: 1
 77 |           Show Axes: false
 78 |           Show Trail: false
 79 |         left_wheel:
 80 |           Alpha: 1
 81 |           Show Axes: false
 82 |           Show Trail: false
 83 |           Value: true
 84 |         right_wheel:
 85 |           Alpha: 1
 86 |           Show Axes: false
 87 |           Show Trail: false
 88 |           Value: true
 89 |       Name: RobotModel
 90 |       Robot Description: robot_description
 91 |       TF Prefix: ""
 92 |       Update Interval: 0
 93 |       Value: true
 94 |       Visual Enabled: true
 95 |     - Class: rviz/TF
 96 |       Enabled: true
 97 |       Frame Timeout: 15
 98 |       Frames:
 99 |         All Enabled: true
100 |         chassis:
101 |           Value: true
102 |         kinect:
103 |           Value: true
104 |         kinect_link:
105 |           Value: true
106 |         left_wheel:
107 |           Value: true
108 |         map:
109 |           Value: true
110 |         odom:
111 |           Value: true
112 |         right_wheel:
113 |           Value: true
114 |       Marker Scale: 1
115 |       Name: TF
116 |       Show Arrows: true
117 |       Show Axes: true
118 |       Show Names: true
119 |       Tree:
120 |         map:
121 |           odom:
122 |             chassis:
123 |               kinect:
124 |                 {}
125 |               kinect_link:
126 |                 {}
127 |               left_wheel:
128 |                 {}
129 |               right_wheel:
130 |                 {}
131 |       Update Interval: 0
132 |       Value: true
133 |     - Alpha: 1
134 |       Autocompute Intensity Bounds: true
135 |       Autocompute Value Bounds:
136 |         Max Value: 10
137 |         Min Value: -10
138 |         Value: true
139 |       Axis: Z
140 |       Channel Name: intensity
141 |       Class: rviz/LaserScan
142 |       Color: 255; 255; 255
143 |       Color Transformer: Intensity
144 |       Decay Time: 0
145 |       Enabled: true
146 |       Invert Rainbow: false
147 |       Max Color: 255; 255; 255
148 |       Max Intensity: 4096
149 |       Min Color: 0; 0; 0
150 |       Min Intensity: 0
151 |       Name: LaserScan
152 |       Position Transformer: XYZ
153 |       Queue Size: 10
154 |       Selectable: true
155 |       Size (Pixels): 3
156 |       Size (m): 0.00999999978
157 |       Style: Flat Squares
158 |       Topic: /kinect/scan
159 |       Unreliable: false
160 |       Use Fixed Frame: true
161 |       Use rainbow: true
162 |       Value: true
163 |     - Alpha: 0.699999988
164 |       Class: rviz/Map
165 |       Color Scheme: map
166 |       Draw Behind: false
167 |       Enabled: true
168 |       Name: Map
169 |       Topic: /projected_map
170 |       Unreliable: false
171 |       Use Timestamp: false
172 |       Value: true
173 |     - Class: rviz/MarkerArray
174 |       Enabled: true
175 |       Marker Topic: /occupied_cells_vis_array
176 |       Name: MarkerArray
177 |       Namespaces:
178 |         map: true
179 |       Queue Size: 100
180 |       Value: true
181 |   Enabled: true
182 |   Global Options:
183 |     Background Color: 48; 48; 48
184 |     Default Light: true
185 |     Fixed Frame: map
186 |     Frame Rate: 30
187 |   Name: root
188 |   Tools:
189 |     - Class: rviz/Interact
190 |       Hide Inactive Objects: true
191 |     - Class: rviz/MoveCamera
192 |     - Class: rviz/Select
193 |     - Class: rviz/FocusCamera
194 |     - Class: rviz/Measure
195 |     - Class: rviz/SetInitialPose
196 |       Topic: /initialpose
197 |     - Class: rviz/SetGoal
198 |       Topic: /move_base_simple/goal
199 |     - Class: rviz/PublishPoint
200 |       Single click: true
201 |       Topic: /clicked_point
202 |   Value: true
203 |   Views:
204 |     Current:
205 |       Class: rviz/Orbit
206 |       Distance: 5.84805441
207 |       Enable Stereo Rendering:
208 |         Stereo Eye Separation: 0.0599999987
209 |         Stereo Focal Distance: 1
210 |         Swap Stereo Eyes: false
211 |         Value: false
212 |       Focal Point:
213 |         X: -0.418741435
214 |         Y: 0.868555605
215 |         Z: 0.7522946
216 |       Focal Shape Fixed Size: true
217 |       Focal Shape Size: 0.0500000007
218 |       Invert Z Axis: false
219 |       Name: Current View
220 |       Near Clip Distance: 0.00999999978
221 |       Pitch: 0.709797204
222 |       Target Frame: <Fixed Frame>
223 |       Value: Orbit (rviz)
224 |       Yaw: 3.13540101
225 |     Saved: ~
226 | Window Geometry:
227 |   Displays:
228 |     collapsed: false
229 |   Height: 1056
230 |   Hide Left Dock: false
231 |   Hide Right Dock: true
232 |   QMainWindow State: 000000ff00000000fd00000004000000000000018d0000038efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000038e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000021f000000bf0000000000000000fb0000000c00430061006d00650072006101000002b8000000f80000000000000000000000010000011e00000231fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000231000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000046fc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005ac0000038e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
233 |   Selection:
234 |     collapsed: false
235 |   Time:
236 |     collapsed: false
237 |   Tool Properties:
238 |     collapsed: false
239 |   Views:
240 |     collapsed: true
241 |   Width: 1855
242 |   X: 65
243 |   Y: 24
244 | 


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/navros_pkg/screenshots/grid_slam.jpg:
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https://raw.githubusercontent.com/morou34/Navigation-of-an-Autonomous-Differential-Drive-Robot/949e3d187e54dd3ab9ba951b77cecd9f45a44412/navros_pkg/screenshots/grid_slam.jpg


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/navros_pkg/screenshots/grid_slam.png:
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https://raw.githubusercontent.com/morou34/Navigation-of-an-Autonomous-Differential-Drive-Robot/949e3d187e54dd3ab9ba951b77cecd9f45a44412/navros_pkg/screenshots/grid_slam.png


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/navros_pkg/screenshots/navigation.png:
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https://raw.githubusercontent.com/morou34/Navigation-of-an-Autonomous-Differential-Drive-Robot/949e3d187e54dd3ab9ba951b77cecd9f45a44412/navros_pkg/screenshots/navigation.png


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/navros_pkg/screenshots/small_house.png:
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https://raw.githubusercontent.com/morou34/Navigation-of-an-Autonomous-Differential-Drive-Robot/949e3d187e54dd3ab9ba951b77cecd9f45a44412/navros_pkg/screenshots/small_house.png


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/navros_pkg/urdf/car.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot name="car" xmlns:xacro="http://ros.org/wiki/xacro" >
  3 | 
  4 |  <material name="blue">
  5 |  	<color rgba="0 0 0.8 1"/>
  6 |  </material>
  7 | 
  8 |  <material name="white">
  9 | 	 <color rgba="1 1 1 1"/>
 10 |  </material>
 11 |  
 12 |   <material name="black">
 13 | 	<color rgba="0 0 0 1"/>
 14 |  </material>
 15 | 
 16 | 	
 17 |  <xacro:property name="m" value="2" />
 18 |  <xacro:property name="l1" value="0.5" />		
 19 |  <xacro:property name="b1" value="0.3" />		
 20 |  <xacro:property name="h1" value="0.07" />
 21 | 
 22 |  <xacro:property name="r2" value="0.05" />
 23 | 
 24 | 	<link name="chassis">
 25 | 		<visual>
 26 | 			<origin rpy="0 0 0" xyz="0 0 0"/>
 27 | 			<geometry>
 28 | 				<box size="${l1} ${b1} ${h1}"/>
 29 | 			</geometry>
 30 | 			<material name="black"/>
 31 | 			
 32 | 		</visual>
 33 | 		
 34 | 		<collision name="collision_chassis">
 35 | 			<geometry>
 36 | 				<box size="${l1} ${b1} ${h1}"/>
 37 | 			</geometry>
 38 | 		</collision>
 39 | 
 40 | 		<inertial>
 41 | 			<mass value="${m}"/>
 42 | 			<origin rpy="0 0 0" xyz="0 0 0"/>
 43 | 			<inertia ixx="${m*h1*b1/12.0}" ixy="0" ixz="0" iyy="${m*l1*h1/12.0}" iyz="0" izz="${m*l1*b1/12.0}"/>
 44 | 		</inertial>
 45 | 
 46 | 			
 47 | 		<!-- caster wheel-->
 48 | 		<visual>
 49 | 			<origin rpy="0 0 0" xyz="${l1/2-r2} 0 -${r2}"/>
 50 | 			<geometry>
 51 | 				<sphere radius="${r2}"/>
 52 | 			</geometry>
 53 | 		</visual>
 54 | 
 55 | 		<collision name="caster_front_collision">
 56 | 			<origin rpy="0 0 0" xyz="${l1/2-r2} 0 -${r2}"/>
 57 | 			<geometry>
 58 | 				<sphere radius="${r2}"/>
 59 | 			</geometry>
 60 | 			<surface>
 61 | 				<friction>
 62 | 					<ode>
 63 | 						<mu>0</mu>
 64 | 						<mu2>0</mu2>
 65 | 						<slip1>1.0</slip1>
 66 | 						<slip2>1.0</slip2>
 67 | 					</ode>
 68 | 				</friction>
 69 | 			</surface>
 70 | 		</collision>	
 71 | 	</link>
 72 | 
 73 |  <xacro:property name="l3" value="0.04" />		
 74 |  <xacro:property name="r3" value="0.1" />
 75 |  <xacro:property name="m3" value="0.2" />
 76 | 
 77 | 	<link name="right_wheel">
 78 | 		<visual>
 79 | 			<origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
 80 | 			<geometry>
 81 | 					<cylinder radius="${r3}" length="${l3}" />
 82 | 			</geometry>
 83 | 			<material name="white"/>
 84 | 		</visual>
 85 | 
 86 | 		<collision name="collision_right_wheel">
 87 | 		<origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
 88 | 			<geometry>
 89 | 				<cylinder radius="${r3}" length="${l3}" />
 90 | 			</geometry>
 91 | 		</collision>
 92 | 
 93 | 		<inertial>
 94 | 			<mass value="${m3}"/>
 95 | 			<origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
 96 | 			<inertia ixx="${m3*((3*r3*r3)+(l3*l3))/12.0}" ixy="0" ixz="0" iyy="${m3*((3*r3*r3)+(l3*l3))/12.0}" iyz="0" izz="${(m3*r3*r3)/2.0}"/>
 97 | 		</inertial>
 98 | 	</link>
 99 | 	
100 | 	
101 | 
102 | 	<joint name="joint_right_wheel_chassis" type="continuous">
103 | 		<origin rpy="0 0 0" xyz="-0.05 -${b1/2} 0"/>
104 | 		<child link="right_wheel"/>
105 | 		<parent link="chassis"/>
106 | 		<axis xyz="0 1 0"/>
107 | 		<limit effort="10000" velocity="1000"/>
108 | 		<joint_properties damping="1.0" friction="1.0"/>
109 | 	</joint>
110 | 	
111 | 	
112 | 
113 | 	<link name="left_wheel">
114 | 		<visual>
115 | 			<origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
116 | 			<geometry>
117 | 					<cylinder radius="${r3}" length="${l3}" />
118 | 			</geometry>
119 | 			<material name="white"/>
120 | 		</visual>
121 | 
122 | 		<collision name="collision_left_wheel">
123 | 		<origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
124 | 			<geometry>
125 | 				<cylinder radius="${r3}" length="${l3}" />
126 | 			</geometry>
127 | 		</collision>
128 | 
129 | 		<inertial>
130 | 			<mass value="${m3}"/>
131 | 			<origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
132 | 			<inertia ixx="${m3*((3*r3*r3)+(l3*l3))/12.0}" ixy="0" ixz="0" iyy="${m3*((3*r3*r3)+(l3*l3))/12.0}" iyz="0" izz="${(m3*r3*r3)/2.0}"/>
133 | 		</inertial>
134 | 	</link>
135 | 	
136 | 
137 | 	<joint name="joint_left_wheel_chassis" type="continuous">
138 | 		<origin rpy="0 0 0" xyz="-0.05 ${b1/2} 0"/>
139 | 		<child link="left_wheel"/>
140 | 		<parent link="chassis"/>
141 | 		<axis xyz="0 1 0"/>
142 | 		<limit effort="10000" velocity="1000"/>
143 | 		<joint_properties damping="1.0" friction="1.0"/>
144 | 	</joint>
145 | 
146 | 
147 |  <xacro:property name="mk" value="0.1" />
148 |  <xacro:property name="lk" value="0.05" />		
149 |  <xacro:property name="bk" value="0.2" />		
150 |  <xacro:property name="hk" value="0.05" />
151 | 	
152 | 	<!-- Kinect Sensor -->
153 | 	<link name="kinect">
154 | 		<visual>
155 | 			<origin rpy="0 0 0" xyz="0 0 0"/>
156 | 			<geometry>
157 | 					<box size="${lk} ${bk} ${hk}"/>
158 | 			</geometry>
159 | 		</visual>
160 | 	
161 | 		<collision name="collision_kinect">
162 | 			<geometry>
163 | 					<box size="${lk} ${bk} ${hk}"/>
164 | 			</geometry>
165 | 		</collision>
166 | 
167 | 		<inertial>
168 | 			<mass value="${mk}"/>
169 | 			<origin rpy="0 0 0" xyz="0 0 0"/>
170 | 			<inertia ixx="${mk*hk*bk/12.0}" ixy="0" ixz="0" iyy="${mk*lk*hk/12.0}" iyz="0" izz="${mk*lk*bk/12.0}"/>
171 | 		</inertial>
172 | 	</link>
173 | 	
174 | 	
175 | 	<joint name="joint_kinect_chassis" type="fixed">
176 | 		<origin rpy="0 0 0" xyz="${l1/2-lk/2} 0 ${h1/2+hk/2}"/>
177 | 		<child link="kinect"/>
178 | 		<parent link="chassis"/>
179 | 		
180 | 	</joint>
181 | 	
182 | 	<link name="kinect_link" />
183 | 	
184 | 	<joint name="joint_kinect_link" type="fixed">
185 | 		<origin rpy="-1.5707 0 -1.5707" xyz="${l1/2} 0 ${h1/2+hk/2}"/>
186 | 		<child link="kinect_link"/>
187 | 		<parent link="chassis"/>
188 | 		
189 | 	</joint>
190 | 
191 | <xacro:include filename="$(find navros_pkg)/urdf/gazebo_plugins.urdf.xacro" />
192 | 	
193 | </robot>
194 | 


--------------------------------------------------------------------------------
/navros_pkg/urdf/gazebo_plugins.urdf.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot name="car" xmlns:xacro="http://ros.org/wiki/xacro" >
 3 | 
 4 | 	<!-- Plugin for colors -->
 5 | 	<gazebo reference="chassis">
 6 |   		<material>Gazebo/Grey</material>
 7 | 	</gazebo>
 8 | 	
 9 | 	<gazebo reference="laser">
10 |   		<material>Gazebo/Blue</material>
11 | 	</gazebo>
12 | 
13 | 	<gazebo reference="right_wheel">
14 |   	<material>Gazebo/Yellow</material>
15 | 	</gazebo>
16 | 
17 | 	<gazebo reference="left_wheel">
18 |   		<material>Gazebo/Yellow</material>
19 | 	</gazebo>
20 | 	
21 | 	<gazebo reference="kinect">
22 |   		<material>Gazebo/Black</material>
23 | 	</gazebo>
24 | 
25 | 	<!-- Plugin for differentila drive -->
26 | 	<gazebo>
27 | 	<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
28 | 	    <legacyMode>false</legacyMode>
29 | 	    <alwaysOn>true</alwaysOn>
30 | 	    <updateRate>20</updateRate>
31 | 	    <leftJoint>joint_left_wheel_chassis</leftJoint>
32 | 	    <rightJoint>joint_right_wheel_chassis</rightJoint>
33 | 	    <publishWheelTF>True</publishWheelTF>
34 | 	    <wheelSeparation>0.2</wheelSeparation>
35 | 	    <wheelDiameter>0.2</wheelDiameter>
36 | 	    <torque>0.1</torque>
37 | 	    <commandTopic>cmd_vel</commandTopic>
38 | 	    <odometryTopic>odom</odometryTopic>
39 | 	    <odometryFrame>odom</odometryFrame>
40 | 	    <robotBaseFrame>chassis</robotBaseFrame>
41 | 	  </plugin>
42 | 	</gazebo>
43 | 	
44 | 	
45 | 	<!-- Plugin for Kinect sensor -->
46 | 	  <gazebo reference="kinect">
47 | 	    <sensor type="depth" name="camera1">
48 | 		<always_on>1</always_on>
49 | 		<visualize>true</visualize>             
50 | 		<camera>
51 | 		    <horizontal_fov>1.047</horizontal_fov>  
52 | 		    <image>
53 | 		        <width>640</width>
54 | 		        <height>480</height>
55 | 		        <format>R8G8B8</format>
56 | 		    </image>
57 | 		    <depth_camera>
58 | 
59 | 		    </depth_camera>
60 | 		    <clip>
61 | 		        <near>0.1</near>
62 | 		        <far>100</far>
63 | 		    </clip>
64 | 		</camera>
65 | 		     <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
66 | 		     <alwaysOn>true</alwaysOn>
67 | 		        <updateRate>10.0</updateRate>
68 | 		        <cameraName>kinect</cameraName>
69 | 		        <frameName>kinect_link</frameName>                   
70 | 		    <imageTopicName>rgb/image_raw</imageTopicName>
71 | 		    <depthImageTopicName>depth/image_raw</depthImageTopicName>
72 | 		    <pointCloudTopicName>depth/points</pointCloudTopicName>
73 | 		    <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>              
74 | 		    <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>            
75 | 		    <pointCloudCutoff>0.4</pointCloudCutoff>                
76 | 		        <hackBaseline>0.07</hackBaseline>
77 | 		        <distortionK1>0.0</distortionK1>
78 | 		        <distortionK2>0.0</distortionK2>
79 | 		        <distortionK3>0.0</distortionK3>
80 | 		        <distortionT1>0.0</distortionT1>
81 | 		        <distortionT2>0.0</distortionT2>
82 | 		    <CxPrime>0.0</CxPrime>
83 | 		    <Cx>0.0</Cx>
84 | 		    <Cy>0.0</Cy>
85 | 		    <focalLength>0.0</focalLength>
86 | 		    </plugin>
87 | 	    </sensor>
88 | 	  </gazebo>
89 | 
90 | </robot>
91 | 


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