├── .gitignore ├── README.md ├── assets └── img │ ├── Tf-tree.png │ ├── architecture.png │ ├── banner.png │ ├── msg_logos.png │ ├── msg_tftree_1robot.png │ ├── msg_tftree_2robots.png │ └── video_front.png ├── docker-compose.yml └── rviz ├── s_graphs_ros2_robot1.rviz ├── s_graphs_ros2_robot2.rviz └── s_graphs_ros2_robot3.rviz /.gitignore: -------------------------------------------------------------------------------- 1 | _site 2 | .sass-cache 3 | node_modules 4 | .DS_STORE 5 | .jekyll-cache 6 | .env 7 | .prettierignore 8 | .jekyll-metadata -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | [![HitCount](https://hits.dwyl.com/snt-arg/multi_s_graphs_docker.svg?style=flat-square&show=unique)](http://hits.dwyl.com/snt-arg/multi_s_graphs_docker) 2 | 3 |

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Multi S-Graphs: an Efficient Real-time Distributed Semantic-Relational Collaborative SLAM

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6 | Miguel Fernandez Cortizas 7 | · 8 | Hriday Bavle 9 | · 10 | David Perez-Saura 11 |
12 | Jose Luis Sanchez-Lopez 13 | · 14 | Pascual Campoy 15 | · 16 | Holger Voos 17 |

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Paper | Video

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30 | 31 | ## [TABLE OF CONTENTS](#table-of-contents) 32 | - [Published Papers](#published-papers) 33 | - [Getting started](#getting-started) 34 | - [About Multi S-Graphs](#about-multi-s-graphs) 35 | - [Architecture](#architecture) 36 | - [Example on Datasets](#example-on-datasets) 37 | - [Download Datasets](#download-datasets) 38 | - [Run Multi S-Graphs](#run-multi-s-graphs) 39 | - [Configuration](#configuration) 40 | - [ROS 2 Related](#ros-2-related) 41 | - [Relevant topics description](#relevant-topics-description) 42 | - [License](#license) 43 | - [Maintainers](#maintainers) 44 | 45 | 46 | ## Published Papers 47 | 48 |

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53 | 54 | 1. [Multi S-Graphs: an Efficient Real-time Distributed Semantic-Relational Collaborative SLAM 55 | ](https://arxiv.org/abs/2401.05152) 56 | - **Citation** 57 | ```latex 58 | @misc{fernandezcortizas2024multi, 59 | title={Multi S-Graphs: an Efficient Real-time Distributed Semantic-Relational Collaborative SLAM}, 60 | author={Miguel Fernandez-Cortizas and Hriday Bavle and David Perez-Saura and Jose Luis Sanchez-Lopez and Pascual Campoy and Holger Voos}, 61 | year={2024}, 62 | eprint={2401.05152}, 63 | archivePrefix={arXiv}, 64 | primaryClass={cs.RO}} 65 | ``` 66 | 67 | 2. [S-Graphs+: Real-time Localization and Mapping leveraging 68 | Hierarchical Representations 69 | ](https://arxiv.org/abs/2212.11770) 70 | - **Citation** 71 | ```latex 72 | @ARTICLE{10168233, 73 | author={Bavle, Hriday and Sanchez-Lopez, Jose Luis and Shaheer, Muhammad and Civera, Javier and Voos, Holger}, 74 | journal={IEEE Robotics and Automation Letters}, 75 | title={S-Graphs+: Real-Time Localization and Mapping Leveraging Hierarchical Representations}, 76 | year={2023}, 77 | volume={8}, 78 | number={8}, 79 | pages={4927-4934}, 80 | doi={10.1109/LRA.2023.3290512}} 81 | ``` 82 | 83 | 2. [Situational Graphs for Robot Navigation in Structured Indoor Environments 84 | ](https://arxiv.org/abs/2202.12197) 85 | - **Citation** 86 | ```latex 87 | @ARTICLE{9826367, 88 | author={Bavle, Hriday and Sanchez-Lopez, Jose Luis and Shaheer, Muhammad and Civera, Javier and Voos, Holger}, 89 | journal={IEEE Robotics and Automation Letters}, 90 | title={Situational Graphs for Robot Navigation in Structured Indoor Environments}, 91 | year={2022}, 92 | volume={7}, 93 | number={4}, 94 | pages={9107-9114}, 95 | doi={10.1109/LRA.2022.3189785}} 96 | ``` 97 | 98 | ## Getting started 99 | 100 | 1. Clone this repository 101 | 102 | 2. Pull the docker image from DockerHub 103 | 104 | ```sh 105 | docker pull sntarg/multi_s_graphs:latest 106 | ``` 107 | 3. Allow multicast for Zenoh and display access for visualization 108 | ```sh 109 | sudo ifconfig lo multicast 110 | xhost + 111 | ``` 112 | 4. Modify the `path/to/rosbags/folder` inside the docker-compose.yml file. 113 | 5. Compose a container from image using the docker-compose.yml configuration. 114 | ```sh 115 | cd [/path/to/repository/folder] 116 | docker compose up -d 117 | ``` 118 | This command also incorporates the flags `d`, which makes the container run in the detached mode 119 | 120 | 6. Open a terminal inside the container 121 | ```sh 122 | docker exec -ti ms_graphs bash 123 | ``` 124 | 7. Execute an instance of Multi S-Graphs 125 | ```sh 126 | ./tmux_launch.bash [robot_namespace] [path/to/robot/rosbag] 127 | ``` 128 | 129 | ## About Multi S-Graphs 130 | 131 | ### Architecture 132 | 133 |

134 | 135 | Tf tree 136 | 137 |

138 | 139 | ## Example on Datasets 140 | 141 | **Note:** For each command below, please execute them in separate terminal windows! 142 | 143 | ### Download Datasets 144 | 145 | [Real Dataset](https://upm365-my.sharepoint.com/:f:/g/personal/miguel_fernandez_cortizas_upm_es/EiofGJrLFVxIvspsvCHrkG8ByT3ApBX6m_FQGgt3fQ_Oqg?e=jds3JD) 146 | 147 | [Virtual Dataset](https://upm365-my.sharepoint.com/:f:/g/personal/miguel_fernandez_cortizas_upm_es/EqQycwb5Fs1GtaHAebWpe7gB-ytzSF7K0ATQIGjzs4E2nQ?e=TtqpsI) 148 | 149 | ### Run Multi S-Graphs 150 | 1. Open a terminal inside the container 151 | ```sh 152 | docker exec -ti ms_graphs bash 153 | ``` 154 | 2. In this terminal inside the container, execute an instance of Multi S-Graphs for Robot1 155 | ```sh 156 | ./tmux_launch.bash robot1 rosbags/?_split_robot1.bag 157 | ``` 158 | 3. In a different window, open another terminal inside the container 159 | ```sh 160 | docker exec -ti ms_graphs bash 161 | ``` 162 | 4. In this terminal inside the container, execute an instance of Multi S-Graphs for Robot2 163 | ```sh 164 | ./tmux_launch.bash robot1 rosbags/?_split_robot2.bag 165 | ``` 166 | 167 | ## Configuration 168 | The configuration of each robot is the same than described in [S-Graphs+](https://github.com/snt-arg/s_graphs_docker). 169 | 170 | ## ROS 2 Related 171 | 172 | The ROS 2 RMW that we use is CycloneDDS as we rely on the Zenoh ROS2 bridges for connecting multiple robots between them. 173 | Please check that your ROS 2 system is using this RMW if you want to inspect the execution nodes. 174 | 175 | In our system we use a different ```ROS_DOMAIN_ID``` environment variable for each robot. The ID matches with the robot number e.g. robot1 has ```ROS_DOMAIN_ID=1```. 176 | In order to inspect the different nodes and topic please set your terminal into a corresponding ```ROS_DOMAIN_ID``` with: 177 | 178 | ```sh 179 | export ROS_DOMAIN_ID= 180 | ``` 181 | 182 | ### Relevant topics description 183 | 184 | Input topics for each robot are the same than described in [S-Graphs+](https://github.com/snt-arg/s_graphs_docker) with the appropiate namespaces. 185 | 186 | Multi S-Graphs shared topics between agents: 187 | - `/graph_room_keyframes_all` [graph_manager_msgs/msg/RoomKeyframe] 188 | - Shared Room Descriptors between agents. 189 | - `/graph_vertical_planes_all` [graph_manager_msgs/msg/VerticalPlanes] 190 | - Shared Vertical Planes between agents. 191 | - `/relative_map_estimation` [graph_manager_msgs/msg/RelativeMapEstimation] 192 | - Tranformations between every agent map frame. 193 | 194 | Visualization topics for each robot: 195 | - `/[robot_namespace]/s_graphs/markers` [visualization_msgs/msg/MarkerArray] 196 | - Visualization of the Situational Graph 197 | - `/[robot_namespace]/s_graphs/map_points_ts` [sensor_msgs/msg/PointCloud2] 198 | - Visualization of the Point Cloud 199 | - `/[robot_namespace]/s_graphs/pose_ts` [geometry_msgs/msg/PoseStamped] 200 | - Visualization of the Pose 201 | 202 | 203 | ## License 204 | 205 | This package is released under the **BSD-2-Clause** License. 206 | 207 | Note that the cholmod solver in g2o is licensed under GPL. You may need to build g2o without cholmod dependency to avoid the GPL. 208 | 209 | ## Maintainers 210 | 211 | - **Miguel Fernandez-Cortizas** 212 | - **Email:** miguel.fernandez.cortizas@upm.es 213 | - **Hriday Bavle** 214 | - **Email:** hriday.bavle@uni.lu 215 | - **Website:** https://www.hriday.bavle.com/ 216 | - **David Perez-Saura** 217 | - **Email:** david.perez.saura@upm.es 218 | 219 |
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226 | -------------------------------------------------------------------------------- /assets/img/Tf-tree.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/Tf-tree.png -------------------------------------------------------------------------------- /assets/img/architecture.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/architecture.png -------------------------------------------------------------------------------- /assets/img/banner.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/banner.png -------------------------------------------------------------------------------- /assets/img/msg_logos.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/msg_logos.png -------------------------------------------------------------------------------- /assets/img/msg_tftree_1robot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/msg_tftree_1robot.png -------------------------------------------------------------------------------- /assets/img/msg_tftree_2robots.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/msg_tftree_2robots.png -------------------------------------------------------------------------------- /assets/img/video_front.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/snt-arg/multi_s_graphs_docker/759998c436ec49e650568fb51defc9c367feaaa8/assets/img/video_front.png -------------------------------------------------------------------------------- /docker-compose.yml: -------------------------------------------------------------------------------- 1 | version: '3.3' 2 | services: 3 | multi_s_graphs: 4 | image: sntarg/multi_s_graphs 5 | container_name: ms_graphs 6 | privileged: true 7 | environment: 8 | DISPLAY: $DISPLAY 9 | volumes: 10 | - /tmp/.X11-unix:/tmp/.X11-unix 11 | - ~/.Xauthority:/root/.Xauthority 12 | - ./rviz:/root/lux_stay_ws/ros2_ws/src/s_graphs/rviz/ 13 | - /path/to/rosbags/folder:/root/lux_stay_ws/rosbags 14 | network_mode: "host" 15 | -------------------------------------------------------------------------------- /rviz/s_graphs_ros2_robot1.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /TF1 9 | - /TF1/Frames1 10 | - /PointCloud22 11 | - /MarkerArray1 12 | - /MarkerArray2/Namespaces1 13 | - /MarkerArray3/Namespaces1 14 | - /PointCloud23 15 | - /PointCloud24 16 | Splitter Ratio: 0.572139322757721 17 | Tree Height: 820 18 | - Class: rviz_common/Selection 19 | Name: Selection 20 | - Class: rviz_common/Tool Properties 21 | Expanded: 22 | - /2D Goal Pose1 23 | - /Publish Point1 24 | Name: Tool Properties 25 | Splitter Ratio: 0.5886790156364441 26 | - Class: rviz_common/Views 27 | Expanded: 28 | - /Current View1 29 | Name: Views 30 | Splitter Ratio: 0.5 31 | Visualization Manager: 32 | Class: "" 33 | Displays: 34 | - Alpha: 0.5 35 | Cell Size: 1 36 | Class: rviz_default_plugins/Grid 37 | Color: 160; 160; 164 38 | Enabled: false 39 | Line Style: 40 | Line Width: 0.029999999329447746 41 | Value: Lines 42 | Name: Grid 43 | Normal Cell Count: 0 44 | Offset: 45 | X: 0 46 | Y: 0 47 | Z: 0 48 | Plane: XY 49 | Plane Cell Count: 10 50 | Reference Frame: 51 | Value: false 52 | - Class: rviz_default_plugins/TF 53 | Enabled: true 54 | Frame Timeout: 15 55 | Frames: 56 | All Enabled: false 57 | map_elevated: 58 | Value: false 59 | robot1/back: 60 | Value: false 61 | robot1/back_fisheye: 62 | Value: false 63 | robot1/body: 64 | Value: false 65 | robot1/flat_body: 66 | Value: true 67 | robot1/floors_layer: 68 | Value: false 69 | robot1/frontleft: 70 | Value: false 71 | robot1/frontleft_fisheye: 72 | Value: false 73 | robot1/frontright: 74 | Value: false 75 | robot1/frontright_fisheye: 76 | Value: false 77 | robot1/gpe: 78 | Value: false 79 | robot1/graph_layer: 80 | Value: false 81 | robot1/graph_layer_other: 82 | Value: false 83 | robot1/head: 84 | Value: false 85 | robot1/keyframes_layer: 86 | Value: false 87 | robot1/left: 88 | Value: false 89 | robot1/left_fisheye: 90 | Value: false 91 | robot1/map: 92 | Value: true 93 | robot1/odom: 94 | Value: true 95 | robot1/right: 96 | Value: false 97 | robot1/right_fisheye: 98 | Value: false 99 | robot1/rooms_layer: 100 | Value: false 101 | robot1/velodyne: 102 | Value: false 103 | robot1/vision: 104 | Value: false 105 | robot1/walls_layer: 106 | Value: false 107 | robot2/map: 108 | Value: true 109 | Marker Scale: 5 110 | Name: TF 111 | Show Arrows: true 112 | Show Axes: true 113 | Show Names: false 114 | Tree: 115 | robot1/map: 116 | map_elevated: 117 | {} 118 | robot1/keyframes_layer: 119 | robot1/walls_layer: 120 | robot1/graph_layer: 121 | robot1/graph_layer_other: 122 | {} 123 | robot1/rooms_layer: 124 | robot1/floors_layer: 125 | {} 126 | robot2/map: 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_default_plugins/PointCloud2 139 | Color: 136; 138; 133 140 | Color Transformer: FlatColor 141 | Decay Time: 5 142 | Enabled: true 143 | Invert Rainbow: false 144 | Max Color: 255; 255; 255 145 | Max Intensity: 0 146 | Min Color: 0; 0; 0 147 | Min Intensity: 0 148 | Name: PointCloud2 149 | Position Transformer: XYZ 150 | Selectable: true 151 | Size (Pixels): 3 152 | Size (m): 0.019999999552965164 153 | Style: Flat Squares 154 | Topic: 155 | Depth: 5 156 | Durability Policy: Volatile 157 | Filter size: 10 158 | History Policy: Keep Last 159 | Reliability Policy: Reliable 160 | Value: /robot1/filtered_points 161 | Use Fixed Frame: true 162 | Use rainbow: true 163 | Value: true 164 | - Alpha: 1 165 | Autocompute Intensity Bounds: true 166 | Autocompute Value Bounds: 167 | Max Value: 10 168 | Min Value: -10 169 | Value: true 170 | Axis: Z 171 | Channel Name: intensity 172 | Class: rviz_default_plugins/PointCloud2 173 | Color: 250; 184; 14 174 | Color Transformer: FlatColor 175 | Decay Time: 0 176 | Enabled: true 177 | Invert Rainbow: false 178 | Max Color: 255; 255; 255 179 | Max Intensity: 0 180 | Min Color: 0; 0; 0 181 | Min Intensity: 0 182 | Name: PointCloud2 183 | Position Transformer: XYZ 184 | Selectable: true 185 | Size (Pixels): 3 186 | Size (m): 0.03999999910593033 187 | Style: Flat Squares 188 | Topic: 189 | Depth: 5 190 | Durability Policy: Volatile 191 | Filter size: 10 192 | History Policy: Keep Last 193 | Reliability Policy: Reliable 194 | Value: /robot1/s_graphs/map_points 195 | Use Fixed Frame: true 196 | Use rainbow: true 197 | Value: true 198 | - Class: rviz_default_plugins/MarkerArray 199 | Enabled: true 200 | Name: MarkerArray 201 | Namespaces: 202 | floor_lines: true 203 | floors: true 204 | hort_planes: true 205 | imu: false 206 | infinite_room_x_lines: false 207 | keyframe_keyframe_edges: false 208 | keyframe_plane_edges: false 209 | loop_close_radius: false 210 | nodes: false 211 | room_vertex: false 212 | rooms: true 213 | rooms_line: true 214 | x_infinite_room: true 215 | x_infinite_vertex: true 216 | x_vert_planes: true 217 | y_vert_planes: true 218 | Topic: 219 | Depth: 5 220 | Durability Policy: Volatile 221 | History Policy: Keep Last 222 | Reliability Policy: Reliable 223 | Value: /robot1/s_graphs/markers 224 | Value: true 225 | - Class: rviz_default_plugins/MarkerArray 226 | Enabled: false 227 | Name: MarkerArray 228 | Namespaces: 229 | {} 230 | Topic: 231 | Depth: 5 232 | Durability Policy: Volatile 233 | History Policy: Keep Last 234 | Reliability Policy: Reliable 235 | Value: /robot1/voxblox_skeletonizer/sparse_graph 236 | Value: false 237 | - Class: rviz_default_plugins/MarkerArray 238 | Enabled: true 239 | Name: MarkerArray 240 | Namespaces: 241 | axis: true 242 | robot1/graph_layer/origin: true 243 | robot1/graph_layer/planes: true 244 | robot1/graph_layer/planes_points_lines: true 245 | robot1/graph_layer/room: true 246 | robot1/graph_layer/room_room_lines: true 247 | robot1/graph_layer/se3_lines: true 248 | robot1/graph_layer/se3_lines_room: true 249 | robot1/graph_layer/vertices: true 250 | Topic: 251 | Depth: 5 252 | Durability Policy: Volatile 253 | History Policy: Keep Last 254 | Reliability Policy: Reliable 255 | Value: /robot1/s_graphs/g2o_markers 256 | Value: true 257 | - Alpha: 1 258 | Autocompute Intensity Bounds: true 259 | Autocompute Value Bounds: 260 | Max Value: 10 261 | Min Value: -10 262 | Value: true 263 | Axis: Z 264 | Channel Name: intensity 265 | Class: rviz_default_plugins/PointCloud2 266 | Color: 31; 123; 184 267 | Color Transformer: FlatColor 268 | Decay Time: 0 269 | Enabled: true 270 | Invert Rainbow: false 271 | Max Color: 255; 255; 255 272 | Max Intensity: 0 273 | Min Color: 0; 0; 0 274 | Min Intensity: 0 275 | Name: PointCloud2 276 | Position Transformer: XYZ 277 | Selectable: true 278 | Size (Pixels): 3 279 | Size (m): 0.03999999910593033 280 | Style: Flat Squares 281 | Topic: 282 | Depth: 5 283 | Durability Policy: Volatile 284 | Filter size: 10 285 | History Policy: Keep Last 286 | Reliability Policy: Reliable 287 | Value: /robot2/s_graphs/map_points_ts 288 | Use Fixed Frame: true 289 | Use rainbow: true 290 | Value: true 291 | - Alpha: 1 292 | Axes Length: 1 293 | Axes Radius: 0.10000000149011612 294 | Class: rviz_default_plugins/Pose 295 | Color: 255; 25; 0 296 | Enabled: true 297 | Head Length: 0.30000001192092896 298 | Head Radius: 0.30000001192092896 299 | Name: Pose 300 | Shaft Length: 1 301 | Shaft Radius: 0.10000000149011612 302 | Shape: Arrow 303 | Topic: 304 | Depth: 5 305 | Durability Policy: Volatile 306 | Filter size: 10 307 | History Policy: Keep Last 308 | Reliability Policy: Reliable 309 | Value: /robot3/s_graphs/pose_ts 310 | Value: true 311 | - Alpha: 1 312 | Autocompute Intensity Bounds: true 313 | Autocompute Value Bounds: 314 | Max Value: 10 315 | Min Value: -10 316 | Value: true 317 | Axis: Z 318 | Channel Name: intensity 319 | Class: rviz_default_plugins/PointCloud2 320 | Color: 170; 170; 170 321 | Color Transformer: FlatColor 322 | Decay Time: 0 323 | Enabled: true 324 | Invert Rainbow: false 325 | Max Color: 255; 255; 255 326 | Max Intensity: 0 327 | Min Color: 0; 0; 0 328 | Min Intensity: 0 329 | Name: PointCloud2 330 | Position Transformer: XYZ 331 | Selectable: true 332 | Size (Pixels): 3 333 | Size (m): 0.03999999910593033 334 | Style: Flat Squares 335 | Topic: 336 | Depth: 5 337 | Durability Policy: Volatile 338 | Filter size: 10 339 | History Policy: Keep Last 340 | Reliability Policy: Reliable 341 | Value: /robot3/s_graphs/map_points_ts 342 | Use Fixed Frame: true 343 | Use rainbow: true 344 | Value: true 345 | - Alpha: 1 346 | Axes Length: 1 347 | Axes Radius: 0.10000000149011612 348 | Class: rviz_default_plugins/Pose 349 | Color: 255; 25; 0 350 | Enabled: true 351 | Head Length: 0.30000001192092896 352 | Head Radius: 0.30000001192092896 353 | Name: Pose 354 | Shaft Length: 1 355 | Shaft Radius: 0.10000000149011612 356 | Shape: Arrow 357 | Topic: 358 | Depth: 5 359 | Durability Policy: Volatile 360 | Filter size: 10 361 | History Policy: Keep Last 362 | Reliability Policy: Reliable 363 | Value: /robot2/s_graphs/pose_ts 364 | Value: true 365 | Enabled: true 366 | Global Options: 367 | Background Color: 255; 255; 255 368 | Fixed Frame: robot1/map 369 | Frame Rate: 10 370 | Name: root 371 | Tools: 372 | - Class: rviz_default_plugins/Interact 373 | Hide Inactive Objects: true 374 | - Class: rviz_default_plugins/MoveCamera 375 | - Class: rviz_default_plugins/Select 376 | - Class: rviz_default_plugins/FocusCamera 377 | - Class: rviz_default_plugins/Measure 378 | Line color: 128; 128; 0 379 | - Class: rviz_default_plugins/SetInitialPose 380 | Covariance x: 0.25 381 | Covariance y: 0.25 382 | Covariance yaw: 0.06853891909122467 383 | Topic: 384 | Depth: 5 385 | Durability Policy: Volatile 386 | History Policy: Keep Last 387 | Reliability Policy: Reliable 388 | Value: /initialpose 389 | - Class: rviz_default_plugins/SetGoal 390 | Topic: 391 | Depth: 5 392 | Durability Policy: Volatile 393 | History Policy: Keep Last 394 | Reliability Policy: Reliable 395 | Value: /goal_pose 396 | - Class: rviz_default_plugins/PublishPoint 397 | Single click: true 398 | Topic: 399 | Depth: 5 400 | Durability Policy: Volatile 401 | History Policy: Keep Last 402 | Reliability Policy: Reliable 403 | Value: /clicked_point 404 | Transformation: 405 | Current: 406 | Class: rviz_default_plugins/TF 407 | Value: true 408 | Views: 409 | Current: 410 | Class: rviz_default_plugins/Orbit 411 | Distance: 0.017653560265898705 412 | Enable Stereo Rendering: 413 | Stereo Eye Separation: 0.05999999865889549 414 | Stereo Focal Distance: 1 415 | Swap Stereo Eyes: false 416 | Value: false 417 | Focal Point: 418 | X: -97.68073272705078 419 | Y: -2.938788414001465 420 | Z: 71.29429626464844 421 | Focal Shape Fixed Size: true 422 | Focal Shape Size: 0.05000000074505806 423 | Invert Z Axis: false 424 | Name: Current View 425 | Near Clip Distance: 0.009999999776482582 426 | Pitch: 0.4405234456062317 427 | Target Frame: 428 | Value: Orbit (rviz) 429 | Yaw: 3.0730907917022705 430 | Saved: ~ 431 | Window Geometry: 432 | Displays: 433 | collapsed: false 434 | Height: 1043 435 | Hide Left Dock: false 436 | Hide Right Dock: true 437 | QMainWindow State: 000000ff00000000fd000000040000000000000194000003bdfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003bd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000506fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000506000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000226000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 438 | Selection: 439 | collapsed: false 440 | Tool Properties: 441 | collapsed: false 442 | Views: 443 | collapsed: true 444 | Width: 960 445 | X: 2560 446 | Y: 360 447 | -------------------------------------------------------------------------------- /rviz/s_graphs_ros2_robot2.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /TF1 9 | - /PointCloud22 10 | - /MarkerArray1/Namespaces1 11 | - /MarkerArray2/Namespaces1 12 | - /MarkerArray3/Namespaces1 13 | - /PointCloud23 14 | - /Pose1 15 | - /PointCloud24 16 | Splitter Ratio: 0.6747252941131592 17 | Tree Height: 1153 18 | - Class: rviz_common/Selection 19 | Name: Selection 20 | - Class: rviz_common/Tool Properties 21 | Expanded: 22 | - /2D Goal Pose1 23 | - /Publish Point1 24 | Name: Tool Properties 25 | Splitter Ratio: 0.5886790156364441 26 | - Class: rviz_common/Views 27 | Expanded: 28 | - /Current View1 29 | Name: Views 30 | Splitter Ratio: 0.5 31 | Visualization Manager: 32 | Class: "" 33 | Displays: 34 | - Alpha: 0.5 35 | Cell Size: 1 36 | Class: rviz_default_plugins/Grid 37 | Color: 160; 160; 164 38 | Enabled: false 39 | Line Style: 40 | Line Width: 0.029999999329447746 41 | Value: Lines 42 | Name: Grid 43 | Normal Cell Count: 0 44 | Offset: 45 | X: 0 46 | Y: 0 47 | Z: 0 48 | Plane: XY 49 | Plane Cell Count: 10 50 | Reference Frame: 51 | Value: false 52 | - Class: rviz_default_plugins/TF 53 | Enabled: true 54 | Frame Timeout: 15 55 | Frames: 56 | All Enabled: false 57 | map_elevated: 58 | Value: false 59 | robot1/map: 60 | Value: true 61 | robot2/back: 62 | Value: true 63 | robot2/back_fisheye: 64 | Value: true 65 | robot2/body: 66 | Value: false 67 | robot2/flat_body: 68 | Value: true 69 | robot2/floors_layer: 70 | Value: false 71 | robot2/frontleft: 72 | Value: true 73 | robot2/frontleft_fisheye: 74 | Value: true 75 | robot2/frontright: 76 | Value: true 77 | robot2/frontright_fisheye: 78 | Value: true 79 | robot2/gpe: 80 | Value: true 81 | robot2/graph_layer: 82 | Value: false 83 | robot2/graph_layer_other: 84 | Value: false 85 | robot2/head: 86 | Value: true 87 | robot2/keyframes_layer: 88 | Value: false 89 | robot2/left: 90 | Value: true 91 | robot2/left_fisheye: 92 | Value: true 93 | robot2/map: 94 | Value: true 95 | robot2/odom: 96 | Value: false 97 | robot2/right: 98 | Value: true 99 | robot2/right_fisheye: 100 | Value: true 101 | robot2/rooms_layer: 102 | Value: false 103 | robot2/velodyne: 104 | Value: false 105 | robot2/vision: 106 | Value: true 107 | robot2/walls_layer: 108 | Value: false 109 | Marker Scale: 5 110 | Name: TF 111 | Show Arrows: true 112 | Show Axes: true 113 | Show Names: false 114 | Tree: 115 | robot2/map: 116 | map_elevated: 117 | {} 118 | robot1/map: 119 | {} 120 | robot2/keyframes_layer: 121 | robot2/walls_layer: 122 | robot2/graph_layer: 123 | robot2/graph_layer_other: 124 | {} 125 | robot2/rooms_layer: 126 | robot2/floors_layer: 127 | {} 128 | robot2/odom: 129 | robot2/body: 130 | robot2/flat_body: 131 | {} 132 | robot2/head: 133 | robot2/back: 134 | robot2/back_fisheye: 135 | {} 136 | robot2/frontleft: 137 | robot2/frontleft_fisheye: 138 | {} 139 | robot2/frontright: 140 | robot2/frontright_fisheye: 141 | {} 142 | robot2/left: 143 | robot2/left_fisheye: 144 | {} 145 | robot2/right: 146 | robot2/right_fisheye: 147 | {} 148 | robot2/velodyne: 149 | {} 150 | robot2/vision: 151 | {} 152 | robot2/gpe: 153 | {} 154 | Update Interval: 0 155 | Value: true 156 | - Alpha: 1 157 | Autocompute Intensity Bounds: true 158 | Autocompute Value Bounds: 159 | Max Value: 10 160 | Min Value: -10 161 | Value: true 162 | Axis: Z 163 | Channel Name: intensity 164 | Class: rviz_default_plugins/PointCloud2 165 | Color: 136; 138; 133 166 | Color Transformer: FlatColor 167 | Decay Time: 5 168 | Enabled: true 169 | Invert Rainbow: false 170 | Max Color: 255; 255; 255 171 | Max Intensity: 0 172 | Min Color: 0; 0; 0 173 | Min Intensity: 0 174 | Name: PointCloud2 175 | Position Transformer: XYZ 176 | Selectable: true 177 | Size (Pixels): 3 178 | Size (m): 0.019999999552965164 179 | Style: Flat Squares 180 | Topic: 181 | Depth: 5 182 | Durability Policy: Volatile 183 | Filter size: 10 184 | History Policy: Keep Last 185 | Reliability Policy: Reliable 186 | Value: /robot2/filtered_points 187 | Use Fixed Frame: true 188 | Use rainbow: true 189 | Value: true 190 | - Alpha: 1 191 | Autocompute Intensity Bounds: true 192 | Autocompute Value Bounds: 193 | Max Value: 10 194 | Min Value: -10 195 | Value: true 196 | Axis: Z 197 | Channel Name: intensity 198 | Class: rviz_default_plugins/PointCloud2 199 | Color: 31; 123; 184 200 | Color Transformer: FlatColor 201 | Decay Time: 0 202 | Enabled: true 203 | Invert Rainbow: false 204 | Max Color: 255; 255; 255 205 | Max Intensity: 0 206 | Min Color: 0; 0; 0 207 | Min Intensity: 0 208 | Name: PointCloud2 209 | Position Transformer: XYZ 210 | Selectable: true 211 | Size (Pixels): 3 212 | Size (m): 0.03999999910593033 213 | Style: Flat Squares 214 | Topic: 215 | Depth: 5 216 | Durability Policy: Volatile 217 | Filter size: 10 218 | History Policy: Keep Last 219 | Reliability Policy: Reliable 220 | Value: /robot2/s_graphs/map_points 221 | Use Fixed Frame: true 222 | Use rainbow: true 223 | Value: true 224 | - Class: rviz_default_plugins/MarkerArray 225 | Enabled: true 226 | Name: MarkerArray 227 | Namespaces: 228 | floor_lines: true 229 | floors: true 230 | hort_planes: true 231 | imu: false 232 | infinite_room_x_lines: true 233 | keyframe_keyframe_edges: false 234 | keyframe_plane_edges: false 235 | loop_close_radius: false 236 | nodes: false 237 | room_vertex: true 238 | rooms: true 239 | rooms_line: true 240 | x_infinite_room: true 241 | x_infinite_vertex: true 242 | x_vert_planes: true 243 | y_vert_planes: true 244 | Topic: 245 | Depth: 5 246 | Durability Policy: Volatile 247 | History Policy: Keep Last 248 | Reliability Policy: Reliable 249 | Value: /robot2/s_graphs/markers 250 | Value: true 251 | - Class: rviz_default_plugins/MarkerArray 252 | Enabled: false 253 | Name: MarkerArray 254 | Namespaces: 255 | {} 256 | Topic: 257 | Depth: 5 258 | Durability Policy: Volatile 259 | History Policy: Keep Last 260 | Reliability Policy: Reliable 261 | Value: /robot2/voxblox_skeletonizer/sparse_graph 262 | Value: false 263 | - Class: rviz_default_plugins/MarkerArray 264 | Enabled: true 265 | Name: MarkerArray 266 | Namespaces: 267 | axis: true 268 | robot2/graph_layer/origin: true 269 | robot2/graph_layer/planes: true 270 | robot2/graph_layer/planes_points_lines: true 271 | robot2/graph_layer/room: true 272 | robot2/graph_layer/room_room_lines: true 273 | robot2/graph_layer/se3_lines: true 274 | robot2/graph_layer/se3_lines_room: true 275 | robot2/graph_layer/vertices: true 276 | Topic: 277 | Depth: 5 278 | Durability Policy: Volatile 279 | History Policy: Keep Last 280 | Reliability Policy: Reliable 281 | Value: /robot2/s_graphs/g2o_markers 282 | Value: true 283 | - Alpha: 1 284 | Autocompute Intensity Bounds: true 285 | Autocompute Value Bounds: 286 | Max Value: 10 287 | Min Value: -10 288 | Value: true 289 | Axis: Z 290 | Channel Name: intensity 291 | Class: rviz_default_plugins/PointCloud2 292 | Color: 250; 184; 14 293 | Color Transformer: FlatColor 294 | Decay Time: 0 295 | Enabled: true 296 | Invert Rainbow: false 297 | Max Color: 255; 255; 255 298 | Max Intensity: 0 299 | Min Color: 0; 0; 0 300 | Min Intensity: 0 301 | Name: PointCloud2 302 | Position Transformer: XYZ 303 | Selectable: true 304 | Size (Pixels): 3 305 | Size (m): 0.03999999910593033 306 | Style: Flat Squares 307 | Topic: 308 | Depth: 5 309 | Durability Policy: Volatile 310 | Filter size: 10 311 | History Policy: Keep Last 312 | Reliability Policy: Reliable 313 | Value: /robot1/s_graphs/map_points_ts 314 | Use Fixed Frame: true 315 | Use rainbow: true 316 | Value: true 317 | - Alpha: 1 318 | Axes Length: 1 319 | Axes Radius: 0.10000000149011612 320 | Class: rviz_default_plugins/Pose 321 | Color: 255; 25; 0 322 | Enabled: true 323 | Head Length: 0.30000001192092896 324 | Head Radius: 0.30000001192092896 325 | Name: Pose 326 | Shaft Length: 1 327 | Shaft Radius: 0.10000000149011612 328 | Shape: Arrow 329 | Topic: 330 | Depth: 5 331 | Durability Policy: Volatile 332 | Filter size: 10 333 | History Policy: Keep Last 334 | Reliability Policy: Reliable 335 | Value: /robot1/s_graphs/pose_ts 336 | Value: true 337 | - Alpha: 1 338 | Autocompute Intensity Bounds: true 339 | Autocompute Value Bounds: 340 | Max Value: 10 341 | Min Value: -10 342 | Value: true 343 | Axis: Z 344 | Channel Name: intensity 345 | Class: rviz_default_plugins/PointCloud2 346 | Color: 170; 170; 170 347 | Color Transformer: FlatColor 348 | Decay Time: 0 349 | Enabled: true 350 | Invert Rainbow: false 351 | Max Color: 255; 255; 255 352 | Max Intensity: 0 353 | Min Color: 0; 0; 0 354 | Min Intensity: 0 355 | Name: PointCloud2 356 | Position Transformer: XYZ 357 | Selectable: true 358 | Size (Pixels): 3 359 | Size (m): 0.03999999910593033 360 | Style: Flat Squares 361 | Topic: 362 | Depth: 5 363 | Durability Policy: Volatile 364 | Filter size: 10 365 | History Policy: Keep Last 366 | Reliability Policy: Reliable 367 | Value: /robot3/s_graphs/map_points_ts 368 | Use Fixed Frame: true 369 | Use rainbow: true 370 | Value: true 371 | Enabled: true 372 | Global Options: 373 | Background Color: 255; 255; 255 374 | Fixed Frame: robot2/map 375 | Frame Rate: 10 376 | Name: root 377 | Tools: 378 | - Class: rviz_default_plugins/Interact 379 | Hide Inactive Objects: true 380 | - Class: rviz_default_plugins/MoveCamera 381 | - Class: rviz_default_plugins/Select 382 | - Class: rviz_default_plugins/FocusCamera 383 | - Class: rviz_default_plugins/Measure 384 | Line color: 128; 128; 0 385 | - Class: rviz_default_plugins/SetInitialPose 386 | Covariance x: 0.25 387 | Covariance y: 0.25 388 | Covariance yaw: 0.06853891909122467 389 | Topic: 390 | Depth: 5 391 | Durability Policy: Volatile 392 | History Policy: Keep Last 393 | Reliability Policy: Reliable 394 | Value: /initialpose 395 | - Class: rviz_default_plugins/SetGoal 396 | Topic: 397 | Depth: 5 398 | Durability Policy: Volatile 399 | History Policy: Keep Last 400 | Reliability Policy: Reliable 401 | Value: /goal_pose 402 | - Class: rviz_default_plugins/PublishPoint 403 | Single click: true 404 | Topic: 405 | Depth: 5 406 | Durability Policy: Volatile 407 | History Policy: Keep Last 408 | Reliability Policy: Reliable 409 | Value: /clicked_point 410 | Transformation: 411 | Current: 412 | Class: rviz_default_plugins/TF 413 | Value: true 414 | Views: 415 | Current: 416 | Class: rviz_default_plugins/Orbit 417 | Distance: 49.630401611328125 418 | Enable Stereo Rendering: 419 | Stereo Eye Separation: 0.05999999865889549 420 | Stereo Focal Distance: 1 421 | Swap Stereo Eyes: false 422 | Value: false 423 | Focal Point: 424 | X: -3.4461302757263184 425 | Y: -4.255791187286377 426 | Z: 14.566330909729004 427 | Focal Shape Fixed Size: true 428 | Focal Shape Size: 0.05000000074505806 429 | Invert Z Axis: false 430 | Name: Current View 431 | Near Clip Distance: 0.009999999776482582 432 | Pitch: 0.9647971391677856 433 | Target Frame: 434 | Value: Orbit (rviz) 435 | Yaw: 4.726296901702881 436 | Saved: ~ 437 | Window Geometry: 438 | Displays: 439 | collapsed: false 440 | Height: 1376 441 | Hide Left Dock: false 442 | Hide Right Dock: true 443 | QMainWindow State: 000000ff00000000fd0000000400000000000001c90000050afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000050a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000506fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000506000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000030d0000050a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 444 | Selection: 445 | collapsed: false 446 | Tool Properties: 447 | collapsed: false 448 | Views: 449 | collapsed: true 450 | Width: 1244 451 | X: 1316 452 | Y: 27 453 | -------------------------------------------------------------------------------- /rviz/s_graphs_ros2_robot3.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | - /PointCloud21 9 | - /PointCloud22 10 | - /MarkerArray1 11 | - /MarkerArray1/Namespaces1 12 | - /MarkerArray2/Namespaces1 13 | - /Odometry1/Shape1 14 | - /MarkerArray3 15 | - /PointCloud23 16 | - /PointCloud24 17 | Splitter Ratio: 0.5 18 | Tree Height: 1153 19 | - Class: rviz_common/Selection 20 | Name: Selection 21 | - Class: rviz_common/Tool Properties 22 | Expanded: 23 | - /2D Goal Pose1 24 | - /Publish Point1 25 | Name: Tool Properties 26 | Splitter Ratio: 0.5886790156364441 27 | - Class: rviz_common/Views 28 | Expanded: 29 | - /Current View1 30 | Name: Views 31 | Splitter Ratio: 0.5 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz_default_plugins/Grid 38 | Color: 160; 160; 164 39 | Enabled: false 40 | Line Style: 41 | Line Width: 0.029999999329447746 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 10 51 | Reference Frame: 52 | Value: false 53 | - Class: rviz_default_plugins/TF 54 | Enabled: true 55 | Frame Timeout: 15 56 | Frames: 57 | All Enabled: false 58 | map_elevated: 59 | Value: false 60 | robot1/map: 61 | Value: true 62 | robot2/map: 63 | Value: true 64 | robot3/back: 65 | Value: false 66 | robot3/back_fisheye: 67 | Value: false 68 | robot3/body: 69 | Value: true 70 | robot3/flat_body: 71 | Value: false 72 | robot3/floors_layer: 73 | Value: false 74 | robot3/frontleft: 75 | Value: false 76 | robot3/frontleft_fisheye: 77 | Value: false 78 | robot3/frontright: 79 | Value: false 80 | robot3/frontright_fisheye: 81 | Value: false 82 | robot3/gpe: 83 | Value: false 84 | robot3/graph_layer: 85 | Value: true 86 | robot3/graph_layer_other: 87 | Value: false 88 | robot3/head: 89 | Value: false 90 | robot3/keyframes_layer: 91 | Value: false 92 | robot3/left: 93 | Value: false 94 | robot3/left_fisheye: 95 | Value: false 96 | robot3/map: 97 | Value: true 98 | robot3/odom: 99 | Value: false 100 | robot3/right: 101 | Value: false 102 | robot3/right_fisheye: 103 | Value: false 104 | robot3/rooms_layer: 105 | Value: false 106 | robot3/velodyne: 107 | Value: false 108 | robot3/vision: 109 | Value: false 110 | robot3/walls_layer: 111 | Value: false 112 | Marker Scale: 5 113 | Name: TF 114 | Show Arrows: true 115 | Show Axes: true 116 | Show Names: false 117 | Tree: 118 | robot3/map: 119 | map_elevated: 120 | {} 121 | robot1/map: 122 | {} 123 | robot2/map: 124 | {} 125 | robot3/keyframes_layer: 126 | robot3/walls_layer: 127 | robot3/graph_layer: 128 | robot3/graph_layer_other: 129 | {} 130 | robot3/rooms_layer: 131 | robot3/floors_layer: 132 | {} 133 | Update Interval: 0 134 | Value: true 135 | - Alpha: 1 136 | Autocompute Intensity Bounds: true 137 | Autocompute Value Bounds: 138 | Max Value: 10 139 | Min Value: -10 140 | Value: true 141 | Axis: Z 142 | Channel Name: intensity 143 | Class: rviz_default_plugins/PointCloud2 144 | Color: 136; 138; 133 145 | Color Transformer: FlatColor 146 | Decay Time: 5 147 | Enabled: true 148 | Invert Rainbow: false 149 | Max Color: 255; 255; 255 150 | Max Intensity: 0 151 | Min Color: 0; 0; 0 152 | Min Intensity: 0 153 | Name: PointCloud2 154 | Position Transformer: XYZ 155 | Selectable: true 156 | Size (Pixels): 3 157 | Size (m): 0.019999999552965164 158 | Style: Flat Squares 159 | Topic: 160 | Depth: 5 161 | Durability Policy: Volatile 162 | Filter size: 10 163 | History Policy: Keep Last 164 | Reliability Policy: Reliable 165 | Value: /robot3/filtered_points 166 | Use Fixed Frame: true 167 | Use rainbow: true 168 | Value: true 169 | - Alpha: 1 170 | Autocompute Intensity Bounds: true 171 | Autocompute Value Bounds: 172 | Max Value: 10 173 | Min Value: -10 174 | Value: true 175 | Axis: Z 176 | Channel Name: intensity 177 | Class: rviz_default_plugins/PointCloud2 178 | Color: 170; 170; 170 179 | Color Transformer: FlatColor 180 | Decay Time: 0 181 | Enabled: true 182 | Invert Rainbow: false 183 | Max Color: 255; 255; 255 184 | Max Intensity: 0 185 | Min Color: 0; 0; 0 186 | Min Intensity: 0 187 | Name: PointCloud2 188 | Position Transformer: XYZ 189 | Selectable: true 190 | Size (Pixels): 3 191 | Size (m): 0.03999999910593033 192 | Style: Flat Squares 193 | Topic: 194 | Depth: 5 195 | Durability Policy: Volatile 196 | Filter size: 10 197 | History Policy: Keep Last 198 | Reliability Policy: Reliable 199 | Value: /robot3/s_graphs/map_points 200 | Use Fixed Frame: true 201 | Use rainbow: true 202 | Value: true 203 | - Class: rviz_default_plugins/MarkerArray 204 | Enabled: true 205 | Name: MarkerArray 206 | Namespaces: 207 | floor_lines: true 208 | floors: true 209 | hort_planes: true 210 | imu: false 211 | infinite_room_x_lines: true 212 | keyframe_keyframe_edges: false 213 | keyframe_plane_edges: false 214 | loop_close_radius: false 215 | nodes: false 216 | room_vertex: true 217 | rooms: true 218 | rooms_line: true 219 | x_infinite_room: true 220 | x_infinite_vertex: true 221 | x_vert_planes: true 222 | y_vert_planes: true 223 | Topic: 224 | Depth: 5 225 | Durability Policy: Volatile 226 | History Policy: Keep Last 227 | Reliability Policy: Reliable 228 | Value: /robot3/s_graphs/markers 229 | Value: true 230 | - Class: rviz_default_plugins/MarkerArray 231 | Enabled: false 232 | Name: MarkerArray 233 | Namespaces: 234 | {} 235 | Topic: 236 | Depth: 5 237 | Durability Policy: Volatile 238 | History Policy: Keep Last 239 | Reliability Policy: Reliable 240 | Value: /robot3/voxblox_skeletonizer/sparse_graph 241 | Value: false 242 | - Angle Tolerance: 0.10000000149011612 243 | Class: rviz_default_plugins/Odometry 244 | Covariance: 245 | Orientation: 246 | Alpha: 0.5 247 | Color: 255; 255; 127 248 | Color Style: Unique 249 | Frame: Local 250 | Offset: 1 251 | Scale: 1 252 | Value: true 253 | Position: 254 | Alpha: 0.30000001192092896 255 | Color: 204; 51; 204 256 | Scale: 1 257 | Value: true 258 | Value: true 259 | Enabled: true 260 | Keep: 1 261 | Name: Odometry 262 | Position Tolerance: 0.10000000149011612 263 | Shape: 264 | Alpha: 1 265 | Axes Length: 1 266 | Axes Radius: 0.10000000149011612 267 | Color: 255; 25; 0 268 | Head Length: 0.30000001192092896 269 | Head Radius: 0.10000000149011612 270 | Shaft Length: 1 271 | Shaft Radius: 0.05000000074505806 272 | Value: Arrow 273 | Topic: 274 | Depth: 5 275 | Durability Policy: Volatile 276 | Filter size: 10 277 | History Policy: Keep Last 278 | Reliability Policy: Reliable 279 | Value: /robot3/platform/odometry 280 | Value: true 281 | - Class: rviz_default_plugins/MarkerArray 282 | Enabled: true 283 | Name: MarkerArray 284 | Namespaces: 285 | axis: true 286 | robot3/graph_layer/origin: true 287 | robot3/graph_layer/planes: true 288 | robot3/graph_layer/planes_points_lines: true 289 | robot3/graph_layer/room: true 290 | robot3/graph_layer/room_room_lines: true 291 | robot3/graph_layer/se3_lines: true 292 | robot3/graph_layer/se3_lines_room: true 293 | robot3/graph_layer/vertices: true 294 | Topic: 295 | Depth: 5 296 | Durability Policy: Volatile 297 | History Policy: Keep Last 298 | Reliability Policy: Reliable 299 | Value: /robot3/s_graphs/g2o_markers 300 | Value: true 301 | - Alpha: 1 302 | Autocompute Intensity Bounds: true 303 | Autocompute Value Bounds: 304 | Max Value: 10 305 | Min Value: -10 306 | Value: true 307 | Axis: Z 308 | Channel Name: intensity 309 | Class: rviz_default_plugins/PointCloud2 310 | Color: 31; 123; 184 311 | Color Transformer: FlatColor 312 | Decay Time: 0 313 | Enabled: true 314 | Invert Rainbow: false 315 | Max Color: 255; 255; 255 316 | Max Intensity: 0 317 | Min Color: 0; 0; 0 318 | Min Intensity: 0 319 | Name: PointCloud2 320 | Position Transformer: XYZ 321 | Selectable: true 322 | Size (Pixels): 3 323 | Size (m): 0.05000000074505806 324 | Style: Flat Squares 325 | Topic: 326 | Depth: 5 327 | Durability Policy: Volatile 328 | Filter size: 10 329 | History Policy: Keep Last 330 | Reliability Policy: Reliable 331 | Value: /robot1/s_graphs/map_points_ts 332 | Use Fixed Frame: true 333 | Use rainbow: true 334 | Value: true 335 | - Alpha: 1 336 | Autocompute Intensity Bounds: true 337 | Autocompute Value Bounds: 338 | Max Value: 10 339 | Min Value: -10 340 | Value: true 341 | Axis: Z 342 | Channel Name: intensity 343 | Class: rviz_default_plugins/PointCloud2 344 | Color: 250; 184; 14 345 | Color Transformer: FlatColor 346 | Decay Time: 0 347 | Enabled: true 348 | Invert Rainbow: false 349 | Max Color: 255; 255; 255 350 | Max Intensity: 0 351 | Min Color: 0; 0; 0 352 | Min Intensity: 0 353 | Name: PointCloud2 354 | Position Transformer: XYZ 355 | Selectable: true 356 | Size (Pixels): 3 357 | Size (m): 0.05000000074505806 358 | Style: Flat Squares 359 | Topic: 360 | Depth: 5 361 | Durability Policy: Volatile 362 | Filter size: 10 363 | History Policy: Keep Last 364 | Reliability Policy: Reliable 365 | Value: /robot2/s_graphs/map_points_ts 366 | Use Fixed Frame: true 367 | Use rainbow: true 368 | Value: true 369 | Enabled: true 370 | Global Options: 371 | Background Color: 255; 255; 255 372 | Fixed Frame: robot3/map 373 | Frame Rate: 10 374 | Name: root 375 | Tools: 376 | - Class: rviz_default_plugins/Interact 377 | Hide Inactive Objects: true 378 | - Class: rviz_default_plugins/MoveCamera 379 | - Class: rviz_default_plugins/Select 380 | - Class: rviz_default_plugins/FocusCamera 381 | - Class: rviz_default_plugins/Measure 382 | Line color: 128; 128; 0 383 | - Class: rviz_default_plugins/SetInitialPose 384 | Covariance x: 0.25 385 | Covariance y: 0.25 386 | Covariance yaw: 0.06853891909122467 387 | Topic: 388 | Depth: 5 389 | Durability Policy: Volatile 390 | History Policy: Keep Last 391 | Reliability Policy: Reliable 392 | Value: /initialpose 393 | - Class: rviz_default_plugins/SetGoal 394 | Topic: 395 | Depth: 5 396 | Durability Policy: Volatile 397 | History Policy: Keep Last 398 | Reliability Policy: Reliable 399 | Value: /goal_pose 400 | - Class: rviz_default_plugins/PublishPoint 401 | Single click: true 402 | Topic: 403 | Depth: 5 404 | Durability Policy: Volatile 405 | History Policy: Keep Last 406 | Reliability Policy: Reliable 407 | Value: /clicked_point 408 | Transformation: 409 | Current: 410 | Class: rviz_default_plugins/TF 411 | Value: true 412 | Views: 413 | Current: 414 | Class: rviz_default_plugins/Orbit 415 | Distance: 67.65868377685547 416 | Enable Stereo Rendering: 417 | Stereo Eye Separation: 0.05999999865889549 418 | Stereo Focal Distance: 1 419 | Swap Stereo Eyes: false 420 | Value: false 421 | Focal Point: 422 | X: -0.4193684756755829 423 | Y: -9.066232681274414 424 | Z: 8.781566619873047 425 | Focal Shape Fixed Size: true 426 | Focal Shape Size: 0.05000000074505806 427 | Invert Z Axis: false 428 | Name: Current View 429 | Near Clip Distance: 0.009999999776482582 430 | Pitch: 0.639797568321228 431 | Target Frame: 432 | Value: Orbit (rviz) 433 | Yaw: 3.9681456089019775 434 | Saved: ~ 435 | Window Geometry: 436 | Displays: 437 | collapsed: false 438 | Height: 1376 439 | Hide Left Dock: false 440 | Hide Right Dock: true 441 | QMainWindow State: 000000ff00000000fd00000004000000000000027a0000050afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000050a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000701fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000701000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000007380000050a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 442 | Selection: 443 | collapsed: false 444 | Tool Properties: 445 | collapsed: false 446 | Views: 447 | collapsed: true 448 | Width: 2488 449 | X: 72 450 | Y: 27 451 | --------------------------------------------------------------------------------