├── CMakeLists.txt ├── LICENSE ├── README.md ├── launch ├── client_robots_gazebo_rviz.launch ├── empty_world.launch ├── include │ ├── amcl.launch.xml │ ├── move_base.launch.xml │ ├── robot.launch.xml │ └── robots.launch.xml ├── keyboard_teleop_robot1.launch ├── keyboard_teleop_robot2.launch ├── robots_gazebo.launch ├── robots_gazebo_rviz.launch └── server_robots_gazebo_rviz.launch ├── maps ├── playground20171003.pgm └── playground20171003.yaml ├── package.xml ├── param ├── agent_params.yaml ├── base_local_planner_params.yaml ├── costmap_common_params.yaml ├── global_costmap_params.yaml ├── local_costmap_params.yaml └── move_base_params.yaml ├── rviz ├── agents.rviz ├── blind_nav.rviz ├── model.rviz ├── navigation.rviz ├── navigation_app.rviz └── navigation_octo.rviz └── worlds ├── .gitkeep ├── corridor.world ├── empty.world ├── hospital.world └── playground.world /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(multi_robot_sim) 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 | roscpp 12 | rospy 13 | std_msgs 14 | ) 15 | 16 | ## System dependencies are found with CMake's conventions 17 | # find_package(Boost REQUIRED COMPONENTS system) 18 | 19 | 20 | ## Uncomment this if the package has a setup.py. This macro ensures 21 | ## modules and global scripts declared therein get installed 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 23 | # catkin_python_setup() 24 | 25 | ################################################ 26 | ## Declare ROS messages, services and actions ## 27 | ################################################ 28 | 29 | ## To declare and build messages, services or actions from within this 30 | ## package, follow these steps: 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 33 | ## * In the file package.xml: 34 | ## * add a build_depend tag for "message_generation" 35 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 37 | ## but can be declared for certainty nonetheless: 38 | ## * add a run_depend tag for "message_runtime" 39 | ## * In this file (CMakeLists.txt): 40 | ## * add "message_generation" and every package in MSG_DEP_SET to 41 | ## find_package(catkin REQUIRED COMPONENTS ...) 42 | ## * add "message_runtime" and every package in MSG_DEP_SET to 43 | ## catkin_package(CATKIN_DEPENDS ...) 44 | ## * uncomment the add_*_files sections below as needed 45 | ## and list every .msg/.srv/.action file to be processed 46 | ## * uncomment the generate_messages entry below 47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 48 | 49 | ## Generate messages in the 'msg' folder 50 | # add_message_files( 51 | # FILES 52 | # Message1.msg 53 | # Message2.msg 54 | # ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | # generate_messages( 72 | # DEPENDENCIES 73 | # std_msgs 74 | # ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if you package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES multi_robot_sim 108 | # CATKIN_DEPENDS roscpp rospy std_msgs 109 | # DEPENDS system_lib 110 | ) 111 | 112 | ########### 113 | ## Build ## 114 | ########### 115 | 116 | ## Specify additional locations of header files 117 | ## Your package locations should be listed before other locations 118 | include_directories( 119 | # include 120 | ${catkin_INCLUDE_DIRS} 121 | ) 122 | 123 | ## Declare a C++ library 124 | # add_library(${PROJECT_NAME} 125 | # src/${PROJECT_NAME}/multi_robot_sim.cpp 126 | # ) 127 | 128 | ## Add cmake target dependencies of the library 129 | ## as an example, code may need to be generated before libraries 130 | ## either from message generation or dynamic reconfigure 131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Declare a C++ executable 134 | ## With catkin_make all packages are built within a single CMake context 135 | ## The recommended prefix ensures that target names across packages don't collide 136 | # add_executable(${PROJECT_NAME}_node src/multi_robot_sim_node.cpp) 137 | 138 | ## Rename C++ executable without prefix 139 | ## The above recommended prefix causes long target names, the following renames the 140 | ## target back to the shorter version for ease of user use 141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 143 | 144 | ## Add cmake target dependencies of the executable 145 | ## same as for the library above 146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | 148 | ## Specify libraries to link a library or executable target against 149 | # target_link_libraries(${PROJECT_NAME}_node 150 | # ${catkin_LIBRARIES} 151 | # ) 152 | 153 | ############# 154 | ## Install ## 155 | ############# 156 | 157 | # all install targets should use catkin DESTINATION variables 158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 159 | 160 | ## Mark executable scripts (Python etc.) for installation 161 | ## in contrast to setup.py, you can choose the destination 162 | # install(PROGRAMS 163 | # scripts/my_python_script 164 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 165 | # ) 166 | 167 | ## Mark executables and/or libraries for installation 168 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 169 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 170 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 171 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 172 | # ) 173 | 174 | ## Mark cpp header files for installation 175 | # install(DIRECTORY include/${PROJECT_NAME}/ 176 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 177 | # FILES_MATCHING PATTERN "*.h" 178 | # PATTERN ".svn" EXCLUDE 179 | # ) 180 | 181 | ## Mark other files for installation (e.g. launch and bag files, etc.) 182 | # install(FILES 183 | # # myfile1 184 | # # myfile2 185 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 186 | # ) 187 | 188 | ############# 189 | ## Testing ## 190 | ############# 191 | 192 | ## Add gtest based cpp test target and link libraries 193 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_multi_robot_sim.cpp) 194 | # if(TARGET ${PROJECT_NAME}-test) 195 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 196 | # endif() 197 | 198 | ## Add folders to be run by python nosetests 199 | # catkin_add_nosetests(test) 200 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 tanukitoshika 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # multi_robot_sim 2 | 3D simulation of multi robot (TurtleBot) system on Gazebo 3 | 4 | This is for ros-kinetic. 5 | 6 | 7 | ## How to Use 8 | 9 | This package dependents on following packages: 10 | `sudo apt install ros-kinetic-turtlebot*` 11 | `sudo apt install ros-kinetic-joy*` 12 | 13 | To launch the package: 14 | `roslaunch multi_robot_sim robots_gazebo_rviz.launch` 15 | 16 | If you want to change world or map: 17 | `roslaunch multi_robot_sim robots_gazebo_rviz.launch world_file:=/world_name.world map_file:=/map_name.yaml` -------------------------------------------------------------------------------- /launch/client_robots_gazebo_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /launch/empty_world.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 42 | 43 | 44 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /launch/include/amcl.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /launch/include/move_base.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /launch/include/robot.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 59 | 67 | 68 | 69 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /launch/include/robots.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /launch/keyboard_teleop_robot1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /launch/keyboard_teleop_robot2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /launch/robots_gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /launch/robots_gazebo_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 30 | 31 | 32 | 33 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /launch/server_robots_gazebo_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 31 | 32 | 33 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /maps/playground20171003.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tanukitoshika/multi_robot_sim/287dcf31b4e3cc8eaa378242ce164c6a295159c7/maps/playground20171003.pgm -------------------------------------------------------------------------------- /maps/playground20171003.yaml: -------------------------------------------------------------------------------- 1 | image: playground20171003.pgm 2 | resolution: 0.050000 3 | origin: [-15.400000, -13.800000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | multi_robot_sim 4 | 0.0.0 5 | The multi_robot_sim package 6 | 7 | 8 | 9 | 10 | robotics 11 | 12 | 13 | 14 | 15 | 16 | MIT 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | roscpp 44 | rospy 45 | std_msgs 46 | roscpp 47 | rospy 48 | std_msgs 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /param/agent_params.yaml: -------------------------------------------------------------------------------- 1 | #agent_hjh_lab: 2 | holo_robot: false 3 | wheel_base: 0.25 4 | 5 | max_vel_x: 0.5 6 | max_vel_th: 1.5 7 | min_vel_x: 0.05 8 | min_vel_th: 0.1 9 | min_vel_y: 0.0 10 | max_vel_y: 0.0 11 | min_vel_th_inplace: 0.5 12 | acc_lim_x: 5.0 13 | acc_lim_y: 5.0 14 | acc_lim_th: 5.2 15 | 16 | max_vel_with_obstacles: 0.5 17 | 18 | footprint_radius: 0.17 19 | 20 | base_frame: /base_link 21 | global_frame: /map 22 | 23 | time_to_holo: 0.4 24 | min_error_holo: 0.02 25 | max_error_holo: 0.10 26 | 27 | eps: 0.1 28 | 29 | type_vo: 0 #HRVO = 0, RVO = 1, VO = 2 30 | orca: true #orca or VO 31 | convex: true #footprint or radius 32 | use_truncation: true #truncate vos 33 | trunc_time: 10.0 34 | 35 | publish_positions_frequency: 10.0 36 | publish_me_frequency: 20.0 37 | controller_frequency: 20.0 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /param/base_local_planner_params.yaml: -------------------------------------------------------------------------------- 1 | TrajectoryPlannerROS: 2 | 3 | # Robot Configuration Parameters 4 | max_vel_x: 0.3 5 | min_vel_x: 0.1 6 | 7 | max_vel_theta: 1.0 8 | min_vel_theta: -1.0 9 | min_in_place_vel_theta: 0.6 10 | 11 | acc_lim_x: 0.5 12 | acc_lim_theta: 1.0 13 | 14 | # Goal Tolerance Parameters 15 | yaw_goal_tolerance: 0.3 16 | xy_goal_tolerance: 0.15 17 | 18 | # Forward Simulation Parameters 19 | sim_time: 3.0 20 | vx_samples: 6 21 | vtheta_samples: 20 22 | 23 | # Trajectory Scoring Parameters 24 | meter_scoring: true 25 | pdist_scale: 0.6 26 | gdist_scale: 0.8 27 | occdist_scale: 0.01 28 | heading_lookahead: 0.325 29 | dwa: true 30 | 31 | # Oscillation Prevention Parameters 32 | oscillation_reset_dist: 0.05 33 | 34 | # Differential-drive robot configuration 35 | holonomic_robot: false 36 | max_vel_y: 0.0 37 | min_vel_y: 0.0 38 | acc_lim_y: 0.0 39 | vy_samples: 0 40 | -------------------------------------------------------------------------------- /param/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot 2 | obstacle_range: 2.5 3 | raytrace_range: 3.0 4 | robot_radius: 0.18 5 | inflation_radius: 0.50 6 | 7 | # voxel map configuration; z-voxels 0 are filled by bumpers and 1 by laser scan (kinect) 8 | map_type: voxel 9 | origin_z: 0.0 10 | z_resolution: 0.2 11 | z_voxels: 2 12 | publish_voxel_map: false 13 | 14 | observation_sources: scan bump 15 | #point_cloud_sensor 16 | #point_cloud_sensor: {sensor_frame: camera_depth_frame,data_type: PointCloud2, topic: camera/depth/points, marking: true, clearing: true, min_obstacle_height: 0.05, max_obstacle_height: 0.40} 17 | #sensor_frame: camera_depth_frame, 18 | scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35} 19 | 20 | bump: {data_type: PointCloud2, topic: sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15} 21 | -------------------------------------------------------------------------------- /param/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: /map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | transform_tolerance: 0.5 8 | -------------------------------------------------------------------------------- /param/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: /map 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 | resolution: 0.05 11 | transform_tolerance: 0.5 12 | -------------------------------------------------------------------------------- /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 | planner_frequency: 1.0 11 | planner_patience: 5.0 12 | 13 | oscillation_timeout: 10.0 14 | oscillation_distance: 0.2 15 | 16 | -------------------------------------------------------------------------------- /rviz/agents.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Tree1 8 | Splitter Ratio: 0.5 9 | Tree Height: 785 10 | - Class: rviz/Selection 11 | Name: Selection 12 | - Class: rviz/Tool Properties 13 | Expanded: 14 | - /Interact1 15 | - /2D Pose Estimate1 16 | - /2D Nav Goal1 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: "" 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: map 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 | base_footprint: 61 | Alpha: 1 62 | Show Axes: false 63 | Show Trail: false 64 | base_link: 65 | Alpha: 1 66 | Show Axes: false 67 | Show Trail: false 68 | Value: true 69 | camera_depth_frame: 70 | Alpha: 1 71 | Show Axes: false 72 | Show Trail: false 73 | camera_depth_optical_frame: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | camera_link: 78 | Alpha: 1 79 | Show Axes: false 80 | Show Trail: false 81 | Value: true 82 | camera_rgb_frame: 83 | Alpha: 1 84 | Show Axes: false 85 | Show Trail: false 86 | camera_rgb_optical_frame: 87 | Alpha: 1 88 | Show Axes: false 89 | Show Trail: false 90 | caster_back_link: 91 | Alpha: 1 92 | Show Axes: false 93 | Show Trail: false 94 | Value: true 95 | caster_front_link: 96 | Alpha: 1 97 | Show Axes: false 98 | Show Trail: false 99 | Value: true 100 | cliff_sensor_front_link: 101 | Alpha: 1 102 | Show Axes: false 103 | Show Trail: false 104 | cliff_sensor_left_link: 105 | Alpha: 1 106 | Show Axes: false 107 | Show Trail: false 108 | cliff_sensor_right_link: 109 | Alpha: 1 110 | Show Axes: false 111 | Show Trail: false 112 | gyro_link: 113 | Alpha: 1 114 | Show Axes: false 115 | Show Trail: false 116 | mount_asus_xtion_pro_link: 117 | Alpha: 1 118 | Show Axes: false 119 | Show Trail: false 120 | Value: true 121 | plate_bottom_link: 122 | Alpha: 1 123 | Show Axes: false 124 | Show Trail: false 125 | Value: true 126 | plate_middle_link: 127 | Alpha: 1 128 | Show Axes: false 129 | Show Trail: false 130 | Value: true 131 | plate_top_link: 132 | Alpha: 1 133 | Show Axes: false 134 | Show Trail: false 135 | Value: true 136 | pole_bottom_0_link: 137 | Alpha: 1 138 | Show Axes: false 139 | Show Trail: false 140 | Value: true 141 | pole_bottom_1_link: 142 | Alpha: 1 143 | Show Axes: false 144 | Show Trail: false 145 | Value: true 146 | pole_bottom_2_link: 147 | Alpha: 1 148 | Show Axes: false 149 | Show Trail: false 150 | Value: true 151 | pole_bottom_3_link: 152 | Alpha: 1 153 | Show Axes: false 154 | Show Trail: false 155 | Value: true 156 | pole_bottom_4_link: 157 | Alpha: 1 158 | Show Axes: false 159 | Show Trail: false 160 | Value: true 161 | pole_bottom_5_link: 162 | Alpha: 1 163 | Show Axes: false 164 | Show Trail: false 165 | Value: true 166 | pole_kinect_0_link: 167 | Alpha: 1 168 | Show Axes: false 169 | Show Trail: false 170 | Value: true 171 | pole_kinect_1_link: 172 | Alpha: 1 173 | Show Axes: false 174 | Show Trail: false 175 | Value: true 176 | pole_middle_0_link: 177 | Alpha: 1 178 | Show Axes: false 179 | Show Trail: false 180 | Value: true 181 | pole_middle_1_link: 182 | Alpha: 1 183 | Show Axes: false 184 | Show Trail: false 185 | Value: true 186 | pole_middle_2_link: 187 | Alpha: 1 188 | Show Axes: false 189 | Show Trail: false 190 | Value: true 191 | pole_middle_3_link: 192 | Alpha: 1 193 | Show Axes: false 194 | Show Trail: false 195 | Value: true 196 | pole_top_0_link: 197 | Alpha: 1 198 | Show Axes: false 199 | Show Trail: false 200 | Value: true 201 | pole_top_1_link: 202 | Alpha: 1 203 | Show Axes: false 204 | Show Trail: false 205 | Value: true 206 | pole_top_2_link: 207 | Alpha: 1 208 | Show Axes: false 209 | Show Trail: false 210 | Value: true 211 | pole_top_3_link: 212 | Alpha: 1 213 | Show Axes: false 214 | Show Trail: false 215 | Value: true 216 | wheel_left_link: 217 | Alpha: 1 218 | Show Axes: false 219 | Show Trail: false 220 | Value: true 221 | wheel_right_link: 222 | Alpha: 1 223 | Show Axes: false 224 | Show Trail: false 225 | Value: true 226 | Name: Robot1Model 227 | Robot Description: /robot1/robot_description 228 | TF Prefix: robot1 229 | Update Interval: 0 230 | Value: true 231 | Visual Enabled: true 232 | - Alpha: 1 233 | Class: rviz/RobotModel 234 | Collision Enabled: false 235 | Enabled: true 236 | Links: 237 | All Links Enabled: true 238 | Expand Joint Details: false 239 | Expand Link Details: false 240 | Expand Tree: false 241 | Link Tree Style: Links in Alphabetic Order 242 | base_footprint: 243 | Alpha: 1 244 | Show Axes: false 245 | Show Trail: false 246 | base_link: 247 | Alpha: 1 248 | Show Axes: false 249 | Show Trail: false 250 | Value: true 251 | camera_depth_frame: 252 | Alpha: 1 253 | Show Axes: false 254 | Show Trail: false 255 | camera_depth_optical_frame: 256 | Alpha: 1 257 | Show Axes: false 258 | Show Trail: false 259 | camera_link: 260 | Alpha: 1 261 | Show Axes: false 262 | Show Trail: false 263 | Value: true 264 | camera_rgb_frame: 265 | Alpha: 1 266 | Show Axes: false 267 | Show Trail: false 268 | camera_rgb_optical_frame: 269 | Alpha: 1 270 | Show Axes: false 271 | Show Trail: false 272 | caster_back_link: 273 | Alpha: 1 274 | Show Axes: false 275 | Show Trail: false 276 | Value: true 277 | caster_front_link: 278 | Alpha: 1 279 | Show Axes: false 280 | Show Trail: false 281 | Value: true 282 | cliff_sensor_front_link: 283 | Alpha: 1 284 | Show Axes: false 285 | Show Trail: false 286 | cliff_sensor_left_link: 287 | Alpha: 1 288 | Show Axes: false 289 | Show Trail: false 290 | cliff_sensor_right_link: 291 | Alpha: 1 292 | Show Axes: false 293 | Show Trail: false 294 | gyro_link: 295 | Alpha: 1 296 | Show Axes: false 297 | Show Trail: false 298 | mount_asus_xtion_pro_link: 299 | Alpha: 1 300 | Show Axes: false 301 | Show Trail: false 302 | Value: true 303 | plate_bottom_link: 304 | Alpha: 1 305 | Show Axes: false 306 | Show Trail: false 307 | Value: true 308 | plate_middle_link: 309 | Alpha: 1 310 | Show Axes: false 311 | Show Trail: false 312 | Value: true 313 | plate_top_link: 314 | Alpha: 1 315 | Show Axes: false 316 | Show Trail: false 317 | Value: true 318 | pole_bottom_0_link: 319 | Alpha: 1 320 | Show Axes: false 321 | Show Trail: false 322 | Value: true 323 | pole_bottom_1_link: 324 | Alpha: 1 325 | Show Axes: false 326 | Show Trail: false 327 | Value: true 328 | pole_bottom_2_link: 329 | Alpha: 1 330 | Show Axes: false 331 | Show Trail: false 332 | Value: true 333 | pole_bottom_3_link: 334 | Alpha: 1 335 | Show Axes: false 336 | Show Trail: false 337 | Value: true 338 | pole_bottom_4_link: 339 | Alpha: 1 340 | Show Axes: false 341 | Show Trail: false 342 | Value: true 343 | pole_bottom_5_link: 344 | Alpha: 1 345 | Show Axes: false 346 | Show Trail: false 347 | Value: true 348 | pole_kinect_0_link: 349 | Alpha: 1 350 | Show Axes: false 351 | Show Trail: false 352 | Value: true 353 | pole_kinect_1_link: 354 | Alpha: 1 355 | Show Axes: false 356 | Show Trail: false 357 | Value: true 358 | pole_middle_0_link: 359 | Alpha: 1 360 | Show Axes: false 361 | Show Trail: false 362 | Value: true 363 | pole_middle_1_link: 364 | Alpha: 1 365 | Show Axes: false 366 | Show Trail: false 367 | Value: true 368 | pole_middle_2_link: 369 | Alpha: 1 370 | Show Axes: false 371 | Show Trail: false 372 | Value: true 373 | pole_middle_3_link: 374 | Alpha: 1 375 | Show Axes: false 376 | Show Trail: false 377 | Value: true 378 | pole_top_0_link: 379 | Alpha: 1 380 | Show Axes: false 381 | Show Trail: false 382 | Value: true 383 | pole_top_1_link: 384 | Alpha: 1 385 | Show Axes: false 386 | Show Trail: false 387 | Value: true 388 | pole_top_2_link: 389 | Alpha: 1 390 | Show Axes: false 391 | Show Trail: false 392 | Value: true 393 | pole_top_3_link: 394 | Alpha: 1 395 | Show Axes: false 396 | Show Trail: false 397 | Value: true 398 | wheel_left_link: 399 | Alpha: 1 400 | Show Axes: false 401 | Show Trail: false 402 | Value: true 403 | wheel_right_link: 404 | Alpha: 1 405 | Show Axes: false 406 | Show Trail: false 407 | Value: true 408 | Name: Robot2Model 409 | Robot Description: /robot2/robot_description 410 | TF Prefix: robot2 411 | Update Interval: 0 412 | Value: true 413 | Visual Enabled: true 414 | - Class: rviz/TF 415 | Enabled: false 416 | Frame Timeout: 15 417 | Frames: 418 | All Enabled: true 419 | Marker Scale: 1 420 | Name: TF 421 | Show Arrows: true 422 | Show Axes: true 423 | Show Names: true 424 | Tree: 425 | {} 426 | Update Interval: 0 427 | Value: false 428 | - Alpha: 1 429 | Autocompute Intensity Bounds: true 430 | Autocompute Value Bounds: 431 | Max Value: 0.297199994 432 | Min Value: 0.297199994 433 | Value: true 434 | Axis: Z 435 | Channel Name: intensity 436 | Class: rviz/LaserScan 437 | Color: 255; 255; 255 438 | Color Transformer: AxisColor 439 | Decay Time: 0 440 | Enabled: false 441 | Invert Rainbow: false 442 | Max Color: 255; 255; 255 443 | Max Intensity: 4096 444 | Min Color: 0; 0; 0 445 | Min Intensity: 0 446 | Name: LaserScan 447 | Position Transformer: XYZ 448 | Queue Size: 10 449 | Selectable: true 450 | Size (Pixels): 3 451 | Size (m): 0.00999999978 452 | Style: Squares 453 | Topic: /scan 454 | Unreliable: false 455 | Use Fixed Frame: true 456 | Use rainbow: true 457 | Value: false 458 | - Alpha: 1 459 | Auto Size: 460 | Auto Size Factor: 1 461 | Value: true 462 | Autocompute Intensity Bounds: true 463 | Autocompute Value Bounds: 464 | Max Value: 3.28600001 465 | Min Value: 0.683000028 466 | Value: true 467 | Axis: X 468 | Channel Name: intensity 469 | Class: rviz/DepthCloud 470 | Color: 255; 255; 255 471 | Color Image Topic: "" 472 | Color Transformer: AxisColor 473 | Color Transport Hint: raw 474 | Decay Time: 0 475 | Depth Map Topic: /robot0/camera/depth/image_raw 476 | Depth Map Transport Hint: raw 477 | Enabled: false 478 | Invert Rainbow: false 479 | Max Color: 255; 255; 255 480 | Max Intensity: 4096 481 | Min Color: 0; 0; 0 482 | Min Intensity: 0 483 | Name: DepthCloud 484 | Occlusion Compensation: 485 | Occlusion Time-Out: 30 486 | Value: false 487 | Position Transformer: XYZ 488 | Queue Size: 5 489 | Selectable: true 490 | Size (Pixels): 3 491 | Style: Points 492 | Topic Filter: true 493 | Use Fixed Frame: true 494 | Use rainbow: true 495 | Value: false 496 | - Alpha: 1 497 | Auto Size: 498 | Auto Size Factor: 1 499 | Value: true 500 | Autocompute Intensity Bounds: true 501 | Autocompute Value Bounds: 502 | Max Value: 10 503 | Min Value: -10 504 | Value: true 505 | Axis: Z 506 | Channel Name: intensity 507 | Class: rviz/DepthCloud 508 | Color: 255; 255; 255 509 | Color Image Topic: /camera/rgb/image_color 510 | Color Transformer: RGB8 511 | Color Transport Hint: raw 512 | Decay Time: 0 513 | Depth Map Topic: /camera/depth_registered/image_raw 514 | Depth Map Transport Hint: raw 515 | Enabled: false 516 | Invert Rainbow: false 517 | Max Color: 255; 255; 255 518 | Max Intensity: 4096 519 | Min Color: 0; 0; 0 520 | Min Intensity: 0 521 | Name: Registered DepthCloud 522 | Occlusion Compensation: 523 | Occlusion Time-Out: 30 524 | Value: false 525 | Position Transformer: XYZ 526 | Queue Size: 5 527 | Selectable: true 528 | Size (Pixels): 3 529 | Style: Points 530 | Topic Filter: true 531 | Use Fixed Frame: true 532 | Use rainbow: true 533 | Value: false 534 | - Class: rviz/Image 535 | Enabled: false 536 | Image Topic: /camera/rgb/image_color 537 | Max Value: 1 538 | Median window: 5 539 | Min Value: 0 540 | Name: Image 541 | Normalize Range: true 542 | Queue Size: 2 543 | Transport Hint: raw 544 | Unreliable: false 545 | Value: false 546 | - Alpha: 1 547 | Autocompute Intensity Bounds: true 548 | Autocompute Value Bounds: 549 | Max Value: 3.28600001 550 | Min Value: 0.680999994 551 | Value: true 552 | Axis: X 553 | Channel Name: intensity 554 | Class: rviz/PointCloud2 555 | Color: 255; 255; 255 556 | Color Transformer: AxisColor 557 | Decay Time: 0 558 | Enabled: false 559 | Invert Rainbow: false 560 | Max Color: 255; 255; 255 561 | Max Intensity: 4096 562 | Min Color: 0; 0; 0 563 | Min Intensity: 0 564 | Name: PointCloud 565 | Position Transformer: XYZ 566 | Queue Size: 10 567 | Selectable: true 568 | Size (Pixels): 3 569 | Size (m): 0.00999999978 570 | Style: Points 571 | Topic: /camera/depth/points 572 | Unreliable: false 573 | Use Fixed Frame: true 574 | Use rainbow: true 575 | Value: false 576 | - Alpha: 1 577 | Autocompute Intensity Bounds: true 578 | Autocompute Value Bounds: 579 | Max Value: 5.63199997 580 | Min Value: 0.649999976 581 | Value: true 582 | Axis: X 583 | Channel Name: intensity 584 | Class: rviz/PointCloud2 585 | Color: 255; 255; 255 586 | Color Transformer: RGB8 587 | Decay Time: 0 588 | Enabled: false 589 | Invert Rainbow: false 590 | Max Color: 255; 255; 255 591 | Max Intensity: 4096 592 | Min Color: 0; 0; 0 593 | Min Intensity: 0 594 | Name: Registered PointCloud 595 | Position Transformer: XYZ 596 | Queue Size: 10 597 | Selectable: true 598 | Size (Pixels): 3 599 | Size (m): 0.00999999978 600 | Style: Points 601 | Topic: /camera/depth_registered/points 602 | Unreliable: false 603 | Use Fixed Frame: true 604 | Use rainbow: true 605 | Value: false 606 | - Class: rviz/InteractiveMarkers 607 | Enable Transparency: true 608 | Enabled: false 609 | Name: InteractiveMarkers 610 | Show Axes: false 611 | Show Descriptions: true 612 | Show Visual Aids: false 613 | Update Topic: /turtlebot_marker_server/update 614 | Value: false 615 | - Alpha: 0.699999988 616 | Class: rviz/Map 617 | Color Scheme: map 618 | Draw Behind: false 619 | Enabled: true 620 | Name: Map 621 | Topic: /map 622 | Unreliable: false 623 | Use Timestamp: false 624 | Value: true 625 | - Alpha: 0.699999988 626 | Class: rviz/Map 627 | Color Scheme: costmap 628 | Draw Behind: false 629 | Enabled: true 630 | Name: Robot1GlobalMap 631 | Topic: /robot1/move_base/global_costmap/costmap 632 | Unreliable: false 633 | Use Timestamp: false 634 | Value: true 635 | - Alpha: 0.699999988 636 | Class: rviz/Map 637 | Color Scheme: costmap 638 | Draw Behind: false 639 | Enabled: true 640 | Name: Robot1LocalMap 641 | Topic: /robot1/move_base/local_costmap/costmap 642 | Unreliable: false 643 | Use Timestamp: false 644 | Value: true 645 | - Alpha: 0.699999988 646 | Class: rviz/Map 647 | Color Scheme: costmap 648 | Draw Behind: false 649 | Enabled: true 650 | Name: Robot2GlobalMap 651 | Topic: /robot2/move_base/global_costmap/costmap 652 | Unreliable: false 653 | Use Timestamp: false 654 | Value: true 655 | - Alpha: 0.699999988 656 | Class: rviz/Map 657 | Color Scheme: costmap 658 | Draw Behind: false 659 | Enabled: true 660 | Name: Robot2LocalMap 661 | Topic: /robot2/move_base/local_costmap/costmap 662 | Unreliable: false 663 | Use Timestamp: false 664 | Value: true 665 | - Alpha: 1 666 | Buffer Length: 1 667 | Class: rviz/Path 668 | Color: 25; 255; 0 669 | Enabled: true 670 | Head Diameter: 0.300000012 671 | Head Length: 0.200000003 672 | Length: 0.300000012 673 | Line Style: Lines 674 | Line Width: 0.0299999993 675 | Name: Robot1Path 676 | Offset: 677 | X: 0 678 | Y: 0 679 | Z: 0 680 | Pose Color: 255; 85; 255 681 | Pose Style: None 682 | Radius: 0.0299999993 683 | Shaft Diameter: 0.100000001 684 | Shaft Length: 0.100000001 685 | Topic: /robot1/move_base/NavfnROS/plan 686 | Unreliable: false 687 | Value: true 688 | - Alpha: 1 689 | Buffer Length: 1 690 | Class: rviz/Path 691 | Color: 25; 255; 0 692 | Enabled: true 693 | Head Diameter: 0.300000012 694 | Head Length: 0.200000003 695 | Length: 0.300000012 696 | Line Style: Lines 697 | Line Width: 0.0299999993 698 | Name: Robot2Path 699 | Offset: 700 | X: 0 701 | Y: 0 702 | Z: 0 703 | Pose Color: 255; 85; 255 704 | Pose Style: None 705 | Radius: 0.0299999993 706 | Shaft Diameter: 0.100000001 707 | Shaft Length: 0.100000001 708 | Topic: /robot2/move_base/NavfnROS/plan 709 | Unreliable: false 710 | Value: true 711 | Enabled: true 712 | Global Options: 713 | Background Color: 48; 48; 48 714 | Fixed Frame: map 715 | Frame Rate: 30 716 | Name: root 717 | Tools: 718 | - Class: rviz/MoveCamera 719 | - Class: rviz/Interact 720 | Hide Inactive Objects: true 721 | - Class: rviz/Select 722 | - Class: rviz/SetInitialPose 723 | Topic: /initialpose 724 | - Class: rviz/SetGoal 725 | Topic: robot1/move_base_simple/goal 726 | Value: true 727 | Views: 728 | Current: 729 | Class: rviz/Orbit 730 | Distance: 22.3424129 731 | Enable Stereo Rendering: 732 | Stereo Eye Separation: 0.0599999987 733 | Stereo Focal Distance: 1 734 | Swap Stereo Eyes: false 735 | Value: false 736 | Focal Point: 737 | X: 0.463521719 738 | Y: 1.25794232 739 | Z: 0.632116675 740 | Focal Shape Fixed Size: true 741 | Focal Shape Size: 0.0500000007 742 | Invert Z Axis: false 743 | Name: Current View 744 | Near Clip Distance: 0.00999999978 745 | Pitch: 1.55979633 746 | Target Frame: 747 | Value: Orbit (rviz) 748 | Yaw: 0.0153938169 749 | Saved: ~ 750 | Window Geometry: 751 | Displays: 752 | collapsed: false 753 | Height: 998 754 | Hide Left Dock: false 755 | Hide Right Dock: false 756 | Image: 757 | collapsed: false 758 | QMainWindow State: 000000ff00000000fd000000040000000000000195000003a0fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc00000028000003a0000000dd00fffffffa000000010100000002fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000057d0000006c0000019500000382fb000000100044006900730070006c0061007900730100000000000001950000016a00fffffffb0000000a0049006d0061006700650000000302000000c60000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004f5000003a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 759 | Selection: 760 | collapsed: false 761 | Time: 762 | collapsed: false 763 | Tool Properties: 764 | collapsed: false 765 | Views: 766 | collapsed: false 767 | Width: 1680 768 | X: 240 769 | Y: 24 770 | -------------------------------------------------------------------------------- /rviz/blind_nav.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | - /TF1/Tree1 9 | - /Global Map1/Map1 10 | - /Bumper/cliff PointCloud1/Status1 11 | Splitter Ratio: 0.5 12 | Tree Height: 769 13 | - Class: rviz/Selection 14 | Name: Selection 15 | - Class: rviz/Tool Properties 16 | Expanded: 17 | - /2D Pose Estimate1 18 | - /2D Nav Goal1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.588679 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Experimental: false 28 | Name: Time 29 | SyncMode: 0 30 | SyncSource: "" 31 | Visualization Manager: 32 | Class: "" 33 | Displays: 34 | - Alpha: 0.5 35 | Cell Size: 1 36 | Class: rviz/Grid 37 | Color: 160; 160; 164 38 | Enabled: true 39 | Line Style: 40 | Line Width: 0.03 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: true 52 | - Alpha: 1 53 | Class: rviz/RobotModel 54 | Collision Enabled: false 55 | Enabled: true 56 | Links: 57 | All Links Enabled: true 58 | Expand Joint Details: false 59 | Expand Link Details: false 60 | Expand Tree: false 61 | Link Tree Style: Links in Alphabetic Order 62 | base_footprint: 63 | Alpha: 1 64 | Show Axes: false 65 | Show Trail: false 66 | base_link: 67 | Alpha: 1 68 | Show Axes: false 69 | Show Trail: false 70 | Value: true 71 | camera_depth_frame: 72 | Alpha: 1 73 | Show Axes: false 74 | Show Trail: false 75 | camera_depth_optical_frame: 76 | Alpha: 1 77 | Show Axes: false 78 | Show Trail: false 79 | camera_link: 80 | Alpha: 1 81 | Show Axes: false 82 | Show Trail: false 83 | Value: true 84 | camera_rgb_frame: 85 | Alpha: 1 86 | Show Axes: false 87 | Show Trail: false 88 | camera_rgb_optical_frame: 89 | Alpha: 1 90 | Show Axes: false 91 | Show Trail: false 92 | caster_back_link: 93 | Alpha: 1 94 | Show Axes: false 95 | Show Trail: false 96 | Value: true 97 | caster_front_link: 98 | Alpha: 1 99 | Show Axes: false 100 | Show Trail: false 101 | Value: true 102 | cliff_sensor_front_link: 103 | Alpha: 1 104 | Show Axes: false 105 | Show Trail: false 106 | cliff_sensor_left_link: 107 | Alpha: 1 108 | Show Axes: false 109 | Show Trail: false 110 | cliff_sensor_right_link: 111 | Alpha: 1 112 | Show Axes: false 113 | Show Trail: false 114 | gyro_link: 115 | Alpha: 1 116 | Show Axes: false 117 | Show Trail: false 118 | plate_bottom_link: 119 | Alpha: 1 120 | Show Axes: false 121 | Show Trail: false 122 | Value: true 123 | plate_middle_link: 124 | Alpha: 1 125 | Show Axes: false 126 | Show Trail: false 127 | Value: true 128 | plate_top_link: 129 | Alpha: 1 130 | Show Axes: false 131 | Show Trail: false 132 | Value: true 133 | pole_bottom_0_link: 134 | Alpha: 1 135 | Show Axes: false 136 | Show Trail: false 137 | Value: true 138 | pole_bottom_1_link: 139 | Alpha: 1 140 | Show Axes: false 141 | Show Trail: false 142 | Value: true 143 | pole_bottom_2_link: 144 | Alpha: 1 145 | Show Axes: false 146 | Show Trail: false 147 | Value: true 148 | pole_bottom_3_link: 149 | Alpha: 1 150 | Show Axes: false 151 | Show Trail: false 152 | Value: true 153 | pole_bottom_4_link: 154 | Alpha: 1 155 | Show Axes: false 156 | Show Trail: false 157 | Value: true 158 | pole_bottom_5_link: 159 | Alpha: 1 160 | Show Axes: false 161 | Show Trail: false 162 | Value: true 163 | pole_kinect_0_link: 164 | Alpha: 1 165 | Show Axes: false 166 | Show Trail: false 167 | Value: true 168 | pole_kinect_1_link: 169 | Alpha: 1 170 | Show Axes: false 171 | Show Trail: false 172 | Value: true 173 | pole_middle_0_link: 174 | Alpha: 1 175 | Show Axes: false 176 | Show Trail: false 177 | Value: true 178 | pole_middle_1_link: 179 | Alpha: 1 180 | Show Axes: false 181 | Show Trail: false 182 | Value: true 183 | pole_middle_2_link: 184 | Alpha: 1 185 | Show Axes: false 186 | Show Trail: false 187 | Value: true 188 | pole_middle_3_link: 189 | Alpha: 1 190 | Show Axes: false 191 | Show Trail: false 192 | Value: true 193 | pole_top_0_link: 194 | Alpha: 1 195 | Show Axes: false 196 | Show Trail: false 197 | Value: true 198 | pole_top_1_link: 199 | Alpha: 1 200 | Show Axes: false 201 | Show Trail: false 202 | Value: true 203 | pole_top_2_link: 204 | Alpha: 1 205 | Show Axes: false 206 | Show Trail: false 207 | Value: true 208 | pole_top_3_link: 209 | Alpha: 1 210 | Show Axes: false 211 | Show Trail: false 212 | Value: true 213 | wheel_left_link: 214 | Alpha: 1 215 | Show Axes: false 216 | Show Trail: false 217 | Value: true 218 | wheel_right_link: 219 | Alpha: 1 220 | Show Axes: false 221 | Show Trail: false 222 | Value: true 223 | Name: RobotModel 224 | Robot Description: robot_description 225 | TF Prefix: "" 226 | Update Interval: 0 227 | Value: true 228 | Visual Enabled: true 229 | - Class: rviz/TF 230 | Enabled: false 231 | Frame Timeout: 15 232 | Frames: 233 | All Enabled: false 234 | Marker Scale: 1 235 | Name: TF 236 | Show Arrows: true 237 | Show Axes: true 238 | Show Names: false 239 | Tree: 240 | {} 241 | Update Interval: 0 242 | Value: false 243 | - Class: rviz/Group 244 | Displays: 245 | - Alpha: 0.7 246 | Class: rviz/Map 247 | Color Scheme: costmap 248 | Draw Behind: false 249 | Enabled: true 250 | Name: Costmap 251 | Topic: /move_base/local_costmap/costmap 252 | Value: true 253 | - Alpha: 1 254 | Buffer Length: 1 255 | Class: rviz/Path 256 | Color: 0; 12; 255 257 | Enabled: true 258 | Name: Planner 259 | Topic: /move_base/TrajectoryPlannerROS/local_plan 260 | Value: true 261 | Enabled: true 262 | Name: Local Map 263 | - Class: rviz/Group 264 | Displays: 265 | - Alpha: 0.4 266 | Class: rviz/Map 267 | Color Scheme: costmap 268 | Draw Behind: true 269 | Enabled: true 270 | Name: Map 271 | Topic: /move_base/global_costmap/costmap 272 | Value: true 273 | - Alpha: 1 274 | Buffer Length: 1 275 | Class: rviz/Path 276 | Color: 255; 0; 0 277 | Enabled: true 278 | Name: Planner 279 | Topic: /move_base/TrajectoryPlannerROS/global_plan 280 | Value: true 281 | Enabled: true 282 | Name: Global Map 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/PointCloud2 292 | Color: 255; 255; 255 293 | Color Transformer: "" 294 | Decay Time: 0 295 | Enabled: true 296 | Max Color: 255; 255; 255 297 | Max Intensity: 4096 298 | Min Color: 0; 0; 0 299 | Min Intensity: 0 300 | Name: Bumper/cliff PointCloud 301 | Position Transformer: "" 302 | Queue Size: 10 303 | Selectable: true 304 | Size (Pixels): 3 305 | Size (m): 0.05 306 | Style: Spheres 307 | Topic: /mobile_base/sensors/bumper_pointcloud 308 | Use Fixed Frame: true 309 | Use rainbow: false 310 | Value: true 311 | - Alpha: 1 312 | Class: rviz/Polygon 313 | Color: 25; 255; 0 314 | Enabled: true 315 | Name: Polygon 316 | Topic: /move_base/local_costmap/footprint_layer/footprint_stamped 317 | Value: true 318 | Enabled: true 319 | Global Options: 320 | Background Color: 48; 48; 48 321 | Fixed Frame: odom 322 | Frame Rate: 30 323 | Name: root 324 | Tools: 325 | - Class: rviz/MoveCamera 326 | - Class: rviz/Interact 327 | Hide Inactive Objects: true 328 | - Class: rviz/Select 329 | - Class: rviz/SetInitialPose 330 | Topic: /initialpose 331 | - Class: rviz/SetGoal 332 | Topic: /move_base_simple/goal 333 | - Class: rviz/Measure 334 | Value: true 335 | Views: 336 | Current: 337 | Class: rviz/Orbit 338 | Distance: 10.0367 339 | Focal Point: 340 | X: 0.644818 341 | Y: 3.7827 342 | Z: -0.57592 343 | Name: Current View 344 | Near Clip Distance: 0.01 345 | Pitch: 1.4398 346 | Target Frame: 347 | Value: Orbit (rviz) 348 | Yaw: 2.99003 349 | Saved: ~ 350 | Window Geometry: 351 | Displays: 352 | collapsed: false 353 | Height: 985 354 | Hide Left Dock: false 355 | Hide Right Dock: false 356 | QMainWindow State: 000000ff00000000fd0000000400000000000003600000038bfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000320000038b000000d701000005000000010000010b0000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000320000038b000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024c01000005fb0000000800540069006d006501000000000000045000000000000000000000030f0000038b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 357 | Selection: 358 | collapsed: false 359 | Time: 360 | collapsed: false 361 | Tool Properties: 362 | collapsed: false 363 | Views: 364 | collapsed: false 365 | Width: 1920 366 | X: 0 367 | Y: 40 368 | -------------------------------------------------------------------------------- /rviz/model.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 | - /Grid1 10 | - /RobotModel1 11 | Splitter Ratio: 0.5 12 | Tree Height: 673 13 | - Class: rviz/Selection 14 | Name: Selection 15 | - Class: rviz/Tool Properties 16 | Expanded: 17 | - /2D Pose Estimate1 18 | - /2D Nav Goal1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.588679 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Name: Time 28 | Visualization Manager: 29 | Class: "" 30 | Displays: 31 | - Alpha: 0.5 32 | Cell Size: 1 33 | Class: rviz/Grid 34 | Color: 160; 160; 164 35 | Enabled: true 36 | Line Style: 37 | Line Width: 0.03 38 | Value: Lines 39 | Name: Grid 40 | Normal Cell Count: 0 41 | Offset: 42 | Value: 0; 0; 0 43 | X: 0 44 | Y: 0 45 | Z: 0 46 | Plane: XY 47 | Plane Cell Count: 10 48 | Reference Frame: 49 | Value: true 50 | - Alpha: 1 51 | Class: rviz/RobotModel 52 | Collision Enabled: false 53 | Enabled: true 54 | Links: 55 | base_footprint: 56 | Alpha: 1 57 | Show Axes: false 58 | Show Trail: false 59 | Value: true 60 | base_link: 61 | Alpha: 1 62 | Show Axes: false 63 | Show Trail: false 64 | Value: true 65 | camera_link: 66 | Alpha: 1 67 | Show Axes: false 68 | Show Trail: false 69 | Value: true 70 | caster_back_link: 71 | Alpha: 1 72 | Show Axes: false 73 | Show Trail: false 74 | Value: true 75 | caster_front_link: 76 | Alpha: 1 77 | Show Axes: false 78 | Show Trail: false 79 | Value: true 80 | plate_bottom_link: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | Value: true 85 | plate_middle_link: 86 | Alpha: 1 87 | Show Axes: false 88 | Show Trail: false 89 | Value: true 90 | plate_top_link: 91 | Alpha: 1 92 | Show Axes: false 93 | Show Trail: false 94 | Value: true 95 | pole_bottom_0_link: 96 | Alpha: 1 97 | Show Axes: false 98 | Show Trail: false 99 | Value: true 100 | pole_bottom_1_link: 101 | Alpha: 1 102 | Show Axes: false 103 | Show Trail: false 104 | Value: true 105 | pole_bottom_2_link: 106 | Alpha: 1 107 | Show Axes: false 108 | Show Trail: false 109 | Value: true 110 | pole_bottom_3_link: 111 | Alpha: 1 112 | Show Axes: false 113 | Show Trail: false 114 | Value: true 115 | pole_bottom_4_link: 116 | Alpha: 1 117 | Show Axes: false 118 | Show Trail: false 119 | Value: true 120 | pole_bottom_5_link: 121 | Alpha: 1 122 | Show Axes: false 123 | Show Trail: false 124 | Value: true 125 | pole_kinect_0_link: 126 | Alpha: 1 127 | Show Axes: false 128 | Show Trail: false 129 | Value: true 130 | pole_kinect_1_link: 131 | Alpha: 1 132 | Show Axes: false 133 | Show Trail: false 134 | Value: true 135 | pole_middle_0_link: 136 | Alpha: 1 137 | Show Axes: false 138 | Show Trail: false 139 | Value: true 140 | pole_middle_1_link: 141 | Alpha: 1 142 | Show Axes: false 143 | Show Trail: false 144 | Value: true 145 | pole_middle_2_link: 146 | Alpha: 1 147 | Show Axes: false 148 | Show Trail: false 149 | Value: true 150 | pole_middle_3_link: 151 | Alpha: 1 152 | Show Axes: false 153 | Show Trail: false 154 | Value: true 155 | pole_top_0_link: 156 | Alpha: 1 157 | Show Axes: false 158 | Show Trail: false 159 | Value: true 160 | pole_top_1_link: 161 | Alpha: 1 162 | Show Axes: false 163 | Show Trail: false 164 | Value: true 165 | pole_top_2_link: 166 | Alpha: 1 167 | Show Axes: false 168 | Show Trail: false 169 | Value: true 170 | pole_top_3_link: 171 | Alpha: 1 172 | Show Axes: false 173 | Show Trail: false 174 | Value: true 175 | wheel_left_link: 176 | Alpha: 1 177 | Show Axes: false 178 | Show Trail: false 179 | Value: true 180 | wheel_right_link: 181 | Alpha: 1 182 | Show Axes: false 183 | Show Trail: false 184 | Value: true 185 | Name: RobotModel 186 | Robot Description: robot_description 187 | TF Prefix: "" 188 | Update Interval: 0 189 | Value: true 190 | Visual Enabled: true 191 | Enabled: true 192 | Global Options: 193 | Background Color: 48; 48; 48 194 | Fixed Frame: /base_footprint 195 | Name: root 196 | Tools: 197 | - Class: rviz/MoveCamera 198 | - Class: rviz/Interact 199 | - Class: rviz/Select 200 | - Class: rviz/SetInitialPose 201 | Topic: /initialpose 202 | - Class: rviz/SetGoal 203 | Topic: /move_base_simple/goal 204 | Value: true 205 | Views: 206 | Current: 207 | Class: rviz/Orbit 208 | Distance: 1.18557 209 | Focal Point: 210 | Value: 0; 0; 0 211 | X: 0 212 | Y: 0 213 | Z: 0 214 | Name: Current View 215 | Near Clip Distance: 0.01 216 | Pitch: 0.490399 217 | Target Frame: 218 | Value: Orbit (rviz) 219 | Yaw: 5.71357 220 | Saved: ~ 221 | Window Geometry: 222 | Height: 916 223 | Hide Left Dock: false 224 | Hide Right Dock: false 225 | QMainWindow State: 000000ff00000000fd00000004000000000000018c0000032bfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000320000032b000000d701000005000000010000010b0000032bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000320000032b000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000001eb01000005fb0000000800540069006d00650100000000000004500000000000000000000002f30000032b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 226 | Width: 1428 227 | X: 56 228 | Y: -31 229 | -------------------------------------------------------------------------------- /rviz/navigation.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | - /TF1/Tree1 9 | - /Global Map1/Costmap1 10 | - /Global Map1/Planner1 11 | - /Local Map1/Costmap1 12 | - /Local Map1/Planner1 13 | Splitter Ratio: 0.5 14 | Tree Height: 769 15 | - Class: rviz/Selection 16 | Name: Selection 17 | - Class: rviz/Tool Properties 18 | Expanded: 19 | - /2D Pose Estimate1 20 | - /2D Nav Goal1 21 | Name: Tool Properties 22 | Splitter Ratio: 0.588679 23 | - Class: rviz/Views 24 | Expanded: 25 | - /Current View1 26 | Name: Views 27 | Splitter Ratio: 0.5 28 | - Class: rviz/Time 29 | Experimental: false 30 | Name: Time 31 | SyncMode: 0 32 | SyncSource: LaserScan 33 | Visualization Manager: 34 | Class: "" 35 | Displays: 36 | - Alpha: 0.5 37 | Cell Size: 1 38 | Class: rviz/Grid 39 | Color: 160; 160; 164 40 | Enabled: true 41 | Line Style: 42 | Line Width: 0.03 43 | Value: Lines 44 | Name: Grid 45 | Normal Cell Count: 0 46 | Offset: 47 | X: 0 48 | Y: 0 49 | Z: 0 50 | Plane: XY 51 | Plane Cell Count: 10 52 | Reference Frame: 53 | Value: true 54 | - Alpha: 1 55 | Class: rviz/RobotModel 56 | Collision Enabled: false 57 | Enabled: true 58 | Links: 59 | All Links Enabled: true 60 | Expand Joint Details: false 61 | Expand Link Details: false 62 | Expand Tree: false 63 | Link Tree Style: Links in Alphabetic Order 64 | base_footprint: 65 | Alpha: 1 66 | Show Axes: false 67 | Show Trail: false 68 | base_link: 69 | Alpha: 1 70 | Show Axes: false 71 | Show Trail: false 72 | Value: true 73 | camera_depth_frame: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | camera_depth_optical_frame: 78 | Alpha: 1 79 | Show Axes: false 80 | Show Trail: false 81 | camera_link: 82 | Alpha: 1 83 | Show Axes: false 84 | Show Trail: false 85 | Value: true 86 | camera_rgb_frame: 87 | Alpha: 1 88 | Show Axes: false 89 | Show Trail: false 90 | camera_rgb_optical_frame: 91 | Alpha: 1 92 | Show Axes: false 93 | Show Trail: false 94 | caster_back_link: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | Value: true 99 | caster_front_link: 100 | Alpha: 1 101 | Show Axes: false 102 | Show Trail: false 103 | Value: true 104 | cliff_sensor_front_link: 105 | Alpha: 1 106 | Show Axes: false 107 | Show Trail: false 108 | cliff_sensor_left_link: 109 | Alpha: 1 110 | Show Axes: false 111 | Show Trail: false 112 | cliff_sensor_right_link: 113 | Alpha: 1 114 | Show Axes: false 115 | Show Trail: false 116 | gyro_link: 117 | Alpha: 1 118 | Show Axes: false 119 | Show Trail: false 120 | plate_bottom_link: 121 | Alpha: 1 122 | Show Axes: false 123 | Show Trail: false 124 | Value: true 125 | plate_middle_link: 126 | Alpha: 1 127 | Show Axes: false 128 | Show Trail: false 129 | Value: true 130 | plate_top_link: 131 | Alpha: 1 132 | Show Axes: false 133 | Show Trail: false 134 | Value: true 135 | pole_bottom_0_link: 136 | Alpha: 1 137 | Show Axes: false 138 | Show Trail: false 139 | Value: true 140 | pole_bottom_1_link: 141 | Alpha: 1 142 | Show Axes: false 143 | Show Trail: false 144 | Value: true 145 | pole_bottom_2_link: 146 | Alpha: 1 147 | Show Axes: false 148 | Show Trail: false 149 | Value: true 150 | pole_bottom_3_link: 151 | Alpha: 1 152 | Show Axes: false 153 | Show Trail: false 154 | Value: true 155 | pole_bottom_4_link: 156 | Alpha: 1 157 | Show Axes: false 158 | Show Trail: false 159 | Value: true 160 | pole_bottom_5_link: 161 | Alpha: 1 162 | Show Axes: false 163 | Show Trail: false 164 | Value: true 165 | pole_kinect_0_link: 166 | Alpha: 1 167 | Show Axes: false 168 | Show Trail: false 169 | Value: true 170 | pole_kinect_1_link: 171 | Alpha: 1 172 | Show Axes: false 173 | Show Trail: false 174 | Value: true 175 | pole_middle_0_link: 176 | Alpha: 1 177 | Show Axes: false 178 | Show Trail: false 179 | Value: true 180 | pole_middle_1_link: 181 | Alpha: 1 182 | Show Axes: false 183 | Show Trail: false 184 | Value: true 185 | pole_middle_2_link: 186 | Alpha: 1 187 | Show Axes: false 188 | Show Trail: false 189 | Value: true 190 | pole_middle_3_link: 191 | Alpha: 1 192 | Show Axes: false 193 | Show Trail: false 194 | Value: true 195 | pole_top_0_link: 196 | Alpha: 1 197 | Show Axes: false 198 | Show Trail: false 199 | Value: true 200 | pole_top_1_link: 201 | Alpha: 1 202 | Show Axes: false 203 | Show Trail: false 204 | Value: true 205 | pole_top_2_link: 206 | Alpha: 1 207 | Show Axes: false 208 | Show Trail: false 209 | Value: true 210 | pole_top_3_link: 211 | Alpha: 1 212 | Show Axes: false 213 | Show Trail: false 214 | Value: true 215 | wheel_left_link: 216 | Alpha: 1 217 | Show Axes: false 218 | Show Trail: false 219 | Value: true 220 | wheel_right_link: 221 | Alpha: 1 222 | Show Axes: false 223 | Show Trail: false 224 | Value: true 225 | Name: RobotModel 226 | Robot Description: robot_description 227 | TF Prefix: "" 228 | Update Interval: 0 229 | Value: true 230 | Visual Enabled: true 231 | - Class: rviz/TF 232 | Enabled: false 233 | Frame Timeout: 15 234 | Frames: 235 | All Enabled: false 236 | Marker Scale: 1 237 | Name: TF 238 | Show Arrows: true 239 | Show Axes: true 240 | Show Names: false 241 | Tree: 242 | {} 243 | Update Interval: 0 244 | Value: false 245 | - Alpha: 1 246 | Autocompute Intensity Bounds: true 247 | Autocompute Value Bounds: 248 | Max Value: 10 249 | Min Value: -10 250 | Value: true 251 | Axis: Z 252 | Channel Name: intensity 253 | Class: rviz/LaserScan 254 | Color: 255; 255; 255 255 | Color Transformer: Intensity 256 | Decay Time: 0 257 | Enabled: true 258 | Max Color: 255; 255; 255 259 | Max Intensity: 4096 260 | Min Color: 0; 0; 0 261 | Min Intensity: 0 262 | Name: LaserScan 263 | Position Transformer: XYZ 264 | Queue Size: 10 265 | Selectable: true 266 | Size (Pixels): 3 267 | Size (m): 0.01 268 | Style: Squares 269 | Topic: /scan 270 | Use Fixed Frame: true 271 | Use rainbow: true 272 | Value: true 273 | - Alpha: 1 274 | Autocompute Intensity Bounds: true 275 | Autocompute Value Bounds: 276 | Max Value: 10 277 | Min Value: -10 278 | Value: true 279 | Axis: Z 280 | Channel Name: intensity 281 | Class: rviz/PointCloud2 282 | Color: 255; 0; 0 283 | Color Transformer: FlatColor 284 | Decay Time: 0 285 | Enabled: true 286 | Max Color: 255; 255; 255 287 | Max Intensity: 4096 288 | Min Color: 0; 0; 0 289 | Min Intensity: 0 290 | Name: Bumper Hit 291 | Position Transformer: XYZ 292 | Queue Size: 10 293 | Selectable: true 294 | Size (Pixels): 3 295 | Size (m): 0.08 296 | Style: Spheres 297 | Topic: /mobile_base/sensors/bumper_pointcloud 298 | Use Fixed Frame: true 299 | Use rainbow: true 300 | Value: true 301 | - Alpha: 0.7 302 | Class: rviz/Map 303 | Color Scheme: map 304 | Draw Behind: false 305 | Enabled: true 306 | Name: Map 307 | Topic: /map 308 | Value: true 309 | - Class: rviz/Group 310 | Displays: 311 | - Alpha: 0.7 312 | Class: rviz/Map 313 | Color Scheme: costmap 314 | Draw Behind: true 315 | Enabled: true 316 | Name: Costmap 317 | Topic: /move_base/global_costmap/costmap 318 | Value: true 319 | - Alpha: 1 320 | Buffer Length: 1 321 | Class: rviz/Path 322 | Color: 255; 0; 0 323 | Enabled: true 324 | Name: Planner 325 | Topic: /move_base/TrajectoryPlannerROS/global_plan 326 | Value: true 327 | Enabled: true 328 | Name: Global Map 329 | - Class: rviz/Group 330 | Displays: 331 | - Alpha: 0.7 332 | Class: rviz/Map 333 | Color Scheme: costmap 334 | Draw Behind: false 335 | Enabled: true 336 | Name: Costmap 337 | Topic: /move_base/local_costmap/costmap 338 | Value: true 339 | - Alpha: 1 340 | Buffer Length: 1 341 | Class: rviz/Path 342 | Color: 0; 12; 255 343 | Enabled: true 344 | Name: Planner 345 | Topic: /move_base/TrajectoryPlannerROS/local_plan 346 | Value: true 347 | Enabled: true 348 | Name: Local Map 349 | - Arrow Length: 0.2 350 | Class: rviz/PoseArray 351 | Color: 0; 192; 0 352 | Enabled: true 353 | Name: Amcl Particles 354 | Topic: /particlecloud 355 | Value: true 356 | Enabled: true 357 | Global Options: 358 | Background Color: 48; 48; 48 359 | Fixed Frame: map 360 | Frame Rate: 30 361 | Name: root 362 | Tools: 363 | - Class: rviz/MoveCamera 364 | - Class: rviz/Interact 365 | Hide Inactive Objects: true 366 | - Class: rviz/Select 367 | - Class: rviz/SetInitialPose 368 | Topic: /initialpose 369 | - Class: rviz/SetGoal 370 | Topic: /move_base_simple/goal 371 | - Class: rviz/Measure 372 | Value: true 373 | Views: 374 | Current: 375 | Angle: 0 376 | Class: rviz/TopDownOrtho 377 | Name: Current View 378 | Near Clip Distance: 0.01 379 | Scale: 86.1276 380 | Target Frame: 381 | Value: TopDownOrtho (rviz) 382 | X: 0.385797 383 | Y: -0.306823 384 | Saved: ~ 385 | Window Geometry: 386 | Displays: 387 | collapsed: false 388 | Height: 985 389 | Hide Left Dock: false 390 | Hide Right Dock: false 391 | QMainWindow State: 000000ff00000000fd0000000400000000000001e50000038bfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000320000038b000000d701000005000000010000010b0000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000320000038b000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024c01000005fb0000000800540069006d006501000000000000045000000000000000000000048a0000038b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 392 | Selection: 393 | collapsed: false 394 | Time: 395 | collapsed: false 396 | Tool Properties: 397 | collapsed: false 398 | Views: 399 | collapsed: false 400 | Width: 1920 401 | X: 0 402 | Y: 40 403 | -------------------------------------------------------------------------------- /rviz/navigation_app.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | - /TF1/Tree1 9 | - /Global Map1/Costmap1 10 | - /Global Map1/Planner1 11 | - /Local Map1/Costmap1 12 | - /Local Map1/Planner1 13 | Splitter Ratio: 0.5 14 | Tree Height: 762 15 | - Class: rviz/Selection 16 | Name: Selection 17 | - Class: rviz/Tool Properties 18 | Expanded: 19 | - /2D Pose Estimate1 20 | - /2D Nav Goal1 21 | Name: Tool Properties 22 | Splitter Ratio: 0.588679 23 | - Class: rviz/Views 24 | Expanded: 25 | - /Current View1 26 | Name: Views 27 | Splitter Ratio: 0.5 28 | - Class: rviz/Time 29 | Experimental: false 30 | Name: Time 31 | SyncMode: 0 32 | SyncSource: LaserScan 33 | Visualization Manager: 34 | Class: "" 35 | Displays: 36 | - Alpha: 0.5 37 | Cell Size: 1 38 | Class: rviz/Grid 39 | Color: 160; 160; 164 40 | Enabled: true 41 | Line Style: 42 | Line Width: 0.03 43 | Value: Lines 44 | Name: Grid 45 | Normal Cell Count: 0 46 | Offset: 47 | X: 0 48 | Y: 0 49 | Z: 0 50 | Plane: XY 51 | Plane Cell Count: 10 52 | Reference Frame: 53 | Value: true 54 | - Alpha: 1 55 | Class: rviz/RobotModel 56 | Collision Enabled: false 57 | Enabled: true 58 | Links: 59 | All Links Enabled: true 60 | Expand Joint Details: false 61 | Expand Link Details: false 62 | Expand Tree: false 63 | Link Tree Style: Links in Alphabetic Order 64 | base_footprint: 65 | Alpha: 1 66 | Show Axes: false 67 | Show Trail: false 68 | base_link: 69 | Alpha: 1 70 | Show Axes: false 71 | Show Trail: false 72 | Value: true 73 | camera_depth_frame: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | camera_depth_optical_frame: 78 | Alpha: 1 79 | Show Axes: false 80 | Show Trail: false 81 | camera_link: 82 | Alpha: 1 83 | Show Axes: false 84 | Show Trail: false 85 | Value: true 86 | camera_rgb_frame: 87 | Alpha: 1 88 | Show Axes: false 89 | Show Trail: false 90 | camera_rgb_optical_frame: 91 | Alpha: 1 92 | Show Axes: false 93 | Show Trail: false 94 | caster_back_link: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | Value: true 99 | caster_front_link: 100 | Alpha: 1 101 | Show Axes: false 102 | Show Trail: false 103 | Value: true 104 | cliff_sensor_front_link: 105 | Alpha: 1 106 | Show Axes: false 107 | Show Trail: false 108 | cliff_sensor_left_link: 109 | Alpha: 1 110 | Show Axes: false 111 | Show Trail: false 112 | cliff_sensor_right_link: 113 | Alpha: 1 114 | Show Axes: false 115 | Show Trail: false 116 | gyro_link: 117 | Alpha: 1 118 | Show Axes: false 119 | Show Trail: false 120 | plate_bottom_link: 121 | Alpha: 1 122 | Show Axes: false 123 | Show Trail: false 124 | Value: true 125 | plate_middle_link: 126 | Alpha: 1 127 | Show Axes: false 128 | Show Trail: false 129 | Value: true 130 | plate_top_link: 131 | Alpha: 1 132 | Show Axes: false 133 | Show Trail: false 134 | Value: true 135 | pole_bottom_0_link: 136 | Alpha: 1 137 | Show Axes: false 138 | Show Trail: false 139 | Value: true 140 | pole_bottom_1_link: 141 | Alpha: 1 142 | Show Axes: false 143 | Show Trail: false 144 | Value: true 145 | pole_bottom_2_link: 146 | Alpha: 1 147 | Show Axes: false 148 | Show Trail: false 149 | Value: true 150 | pole_bottom_3_link: 151 | Alpha: 1 152 | Show Axes: false 153 | Show Trail: false 154 | Value: true 155 | pole_bottom_4_link: 156 | Alpha: 1 157 | Show Axes: false 158 | Show Trail: false 159 | Value: true 160 | pole_bottom_5_link: 161 | Alpha: 1 162 | Show Axes: false 163 | Show Trail: false 164 | Value: true 165 | pole_kinect_0_link: 166 | Alpha: 1 167 | Show Axes: false 168 | Show Trail: false 169 | Value: true 170 | pole_kinect_1_link: 171 | Alpha: 1 172 | Show Axes: false 173 | Show Trail: false 174 | Value: true 175 | pole_middle_0_link: 176 | Alpha: 1 177 | Show Axes: false 178 | Show Trail: false 179 | Value: true 180 | pole_middle_1_link: 181 | Alpha: 1 182 | Show Axes: false 183 | Show Trail: false 184 | Value: true 185 | pole_middle_2_link: 186 | Alpha: 1 187 | Show Axes: false 188 | Show Trail: false 189 | Value: true 190 | pole_middle_3_link: 191 | Alpha: 1 192 | Show Axes: false 193 | Show Trail: false 194 | Value: true 195 | pole_top_0_link: 196 | Alpha: 1 197 | Show Axes: false 198 | Show Trail: false 199 | Value: true 200 | pole_top_1_link: 201 | Alpha: 1 202 | Show Axes: false 203 | Show Trail: false 204 | Value: true 205 | pole_top_2_link: 206 | Alpha: 1 207 | Show Axes: false 208 | Show Trail: false 209 | Value: true 210 | pole_top_3_link: 211 | Alpha: 1 212 | Show Axes: false 213 | Show Trail: false 214 | Value: true 215 | wheel_left_link: 216 | Alpha: 1 217 | Show Axes: false 218 | Show Trail: false 219 | Value: true 220 | wheel_right_link: 221 | Alpha: 1 222 | Show Axes: false 223 | Show Trail: false 224 | Value: true 225 | Name: RobotModel 226 | Robot Description: robot_description 227 | TF Prefix: "" 228 | Update Interval: 0 229 | Value: true 230 | Visual Enabled: true 231 | - Class: rviz/TF 232 | Enabled: false 233 | Frame Timeout: 15 234 | Frames: 235 | All Enabled: false 236 | Marker Scale: 1 237 | Name: TF 238 | Show Arrows: true 239 | Show Axes: true 240 | Show Names: false 241 | Tree: 242 | {} 243 | Update Interval: 0 244 | Value: false 245 | - Alpha: 1 246 | Autocompute Intensity Bounds: true 247 | Autocompute Value Bounds: 248 | Max Value: 10 249 | Min Value: -10 250 | Value: true 251 | Axis: Z 252 | Channel Name: intensity 253 | Class: rviz/LaserScan 254 | Color: 255; 255; 255 255 | Color Transformer: Intensity 256 | Decay Time: 0 257 | Enabled: true 258 | Max Color: 255; 255; 255 259 | Max Intensity: 4096 260 | Min Color: 0; 0; 0 261 | Min Intensity: 0 262 | Name: LaserScan 263 | Position Transformer: XYZ 264 | Queue Size: 10 265 | Selectable: true 266 | Size (Pixels): 3 267 | Size (m): 0.01 268 | Style: Squares 269 | Topic: /scan 270 | Use Fixed Frame: true 271 | Use rainbow: true 272 | Value: true 273 | - Alpha: 1 274 | Autocompute Intensity Bounds: true 275 | Autocompute Value Bounds: 276 | Max Value: 10 277 | Min Value: -10 278 | Value: true 279 | Axis: Z 280 | Channel Name: intensity 281 | Class: rviz/PointCloud2 282 | Color: 255; 0; 0 283 | Color Transformer: FlatColor 284 | Decay Time: 0 285 | Enabled: true 286 | Max Color: 255; 255; 255 287 | Max Intensity: 4096 288 | Min Color: 0; 0; 0 289 | Min Intensity: 0 290 | Name: Bumper Hit 291 | Position Transformer: XYZ 292 | Queue Size: 10 293 | Selectable: true 294 | Size (Pixels): 3 295 | Size (m): 0.08 296 | Style: Spheres 297 | Topic: /mobile_base/sensors/bumper_pointcloud 298 | Use Fixed Frame: true 299 | Use rainbow: true 300 | Value: true 301 | - Alpha: 0.7 302 | Class: rviz/Map 303 | Color Scheme: map 304 | Draw Behind: false 305 | Enabled: true 306 | Name: Map 307 | Topic: /app_manager/application/map 308 | Value: true 309 | - Class: rviz/Group 310 | Displays: 311 | - Alpha: 0.7 312 | Class: rviz/Map 313 | Color Scheme: costmap 314 | Draw Behind: true 315 | Enabled: true 316 | Name: Costmap 317 | Topic: /app_manager/application/move_base/global_costmap/costmap 318 | Value: true 319 | - Alpha: 1 320 | Buffer Length: 1 321 | Class: rviz/Path 322 | Color: 255; 0; 0 323 | Enabled: false 324 | Name: Planner 325 | Topic: /app_manager/application/move_base/TrajectoryPlannerROS/global_plan 326 | Value: false 327 | Enabled: true 328 | Name: Global Map 329 | - Class: rviz/Group 330 | Displays: 331 | - Alpha: 0.7 332 | Class: rviz/Map 333 | Color Scheme: costmap 334 | Draw Behind: false 335 | Enabled: true 336 | Name: Costmap 337 | Topic: /app_manager/application/move_base/local_costmap/costmap 338 | Value: true 339 | - Alpha: 1 340 | Buffer Length: 1 341 | Class: rviz/Path 342 | Color: 0; 12; 255 343 | Enabled: true 344 | Name: Planner 345 | Topic: /app_manager/application/move_base/TrajectoryPlannerROS/local_plan 346 | Value: true 347 | Enabled: true 348 | Name: Local Map 349 | - Arrow Length: 0.2 350 | Class: rviz/PoseArray 351 | Color: 0; 192; 0 352 | Enabled: true 353 | Name: Amcl Particles 354 | Topic: /particlecloud 355 | Value: true 356 | Enabled: true 357 | Global Options: 358 | Background Color: 48; 48; 48 359 | Fixed Frame: map 360 | Frame Rate: 30 361 | Name: root 362 | Tools: 363 | - Class: rviz/MoveCamera 364 | - Class: rviz/Interact 365 | Hide Inactive Objects: true 366 | - Class: rviz/Select 367 | - Class: rviz/SetInitialPose 368 | Topic: /initialpose 369 | - Class: rviz/SetGoal 370 | Topic: /move_base_simple/goal 371 | - Class: rviz/Measure 372 | Value: true 373 | Views: 374 | Current: 375 | Class: rviz/Orbit 376 | Distance: 19.5252 377 | Focal Point: 378 | X: 0.359644 379 | Y: 0.951594 380 | Z: -0.307131 381 | Name: Current View 382 | Near Clip Distance: 0.01 383 | Pitch: 1.5698 384 | Target Frame: 385 | Value: Orbit (rviz) 386 | Yaw: 3.34502 387 | Saved: ~ 388 | Window Geometry: 389 | Displays: 390 | collapsed: false 391 | Height: 978 392 | Hide Left Dock: false 393 | Hide Right Dock: false 394 | QMainWindow State: 000000ff00000000fd00000004000000000000026b00000384fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003200000384000000d701000005000000010000010b00000384fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003200000384000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024c01000005fb0000000800540069006d00650100000000000004500000000000000000000003140000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 395 | Selection: 396 | collapsed: false 397 | Time: 398 | collapsed: false 399 | Tool Properties: 400 | collapsed: false 401 | Views: 402 | collapsed: false 403 | Width: 1680 404 | X: 0 405 | Y: 40 406 | -------------------------------------------------------------------------------- /rviz/navigation_octo.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | - /TF1/Tree1 9 | - /Map1 10 | - /Global Map1 11 | - /Global Map1/Costmap1 12 | - /Global Map1/Planner1 13 | - /Local Map1 14 | - /Local Map1/Costmap1 15 | - /Local Map1/Planner1 16 | - /Local Map1/Cost Cloud1 17 | - /Local Map1/Trajectory Cloud1 18 | - /Amcl Particle Swarm1 19 | Splitter Ratio: 0.5 20 | Tree Height: 815 21 | - Class: rviz/Selection 22 | Name: Selection 23 | - Class: rviz/Tool Properties 24 | Expanded: 25 | - /2D Pose Estimate1 26 | - /2D Nav Goal1 27 | - /Publish Point1 28 | Name: Tool Properties 29 | Splitter Ratio: 0.588679016 30 | - Class: rviz/Views 31 | Expanded: 32 | - /Current View1 33 | Name: Views 34 | Splitter Ratio: 0.5 35 | - Class: rviz/Time 36 | Experimental: false 37 | Name: Time 38 | SyncMode: 0 39 | SyncSource: LaserScan 40 | Visualization Manager: 41 | Class: "" 42 | Displays: 43 | - Alpha: 0.5 44 | Cell Size: 1 45 | Class: rviz/Grid 46 | Color: 160; 160; 164 47 | Enabled: true 48 | Line Style: 49 | Line Width: 0.0299999993 50 | Value: Lines 51 | Name: Grid 52 | Normal Cell Count: 0 53 | Offset: 54 | X: 0 55 | Y: 0 56 | Z: 0 57 | Plane: XY 58 | Plane Cell Count: 10 59 | Reference Frame: 60 | Value: true 61 | - Alpha: 1 62 | Class: rviz/RobotModel 63 | Collision Enabled: false 64 | Enabled: true 65 | Links: 66 | All Links Enabled: true 67 | Expand Joint Details: false 68 | Expand Link Details: false 69 | Expand Tree: false 70 | Link Tree Style: Links in Alphabetic Order 71 | base_footprint: 72 | Alpha: 1 73 | Show Axes: false 74 | Show Trail: false 75 | base_link: 76 | Alpha: 1 77 | Show Axes: false 78 | Show Trail: false 79 | Value: true 80 | camera_depth_frame: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | camera_depth_optical_frame: 85 | Alpha: 1 86 | Show Axes: false 87 | Show Trail: false 88 | camera_link: 89 | Alpha: 1 90 | Show Axes: false 91 | Show Trail: false 92 | Value: true 93 | camera_rgb_frame: 94 | Alpha: 1 95 | Show Axes: false 96 | Show Trail: false 97 | camera_rgb_optical_frame: 98 | Alpha: 1 99 | Show Axes: false 100 | Show Trail: false 101 | caster_back_link: 102 | Alpha: 1 103 | Show Axes: false 104 | Show Trail: false 105 | Value: true 106 | caster_front_link: 107 | Alpha: 1 108 | Show Axes: false 109 | Show Trail: false 110 | Value: true 111 | cliff_sensor_front_link: 112 | Alpha: 1 113 | Show Axes: false 114 | Show Trail: false 115 | cliff_sensor_left_link: 116 | Alpha: 1 117 | Show Axes: false 118 | Show Trail: false 119 | cliff_sensor_right_link: 120 | Alpha: 1 121 | Show Axes: false 122 | Show Trail: false 123 | gyro_link: 124 | Alpha: 1 125 | Show Axes: false 126 | Show Trail: false 127 | mount_asus_xtion_pro_link: 128 | Alpha: 1 129 | Show Axes: false 130 | Show Trail: false 131 | Value: true 132 | plate_bottom_link: 133 | Alpha: 1 134 | Show Axes: false 135 | Show Trail: false 136 | Value: true 137 | plate_middle_link: 138 | Alpha: 1 139 | Show Axes: false 140 | Show Trail: false 141 | Value: true 142 | plate_top_link: 143 | Alpha: 1 144 | Show Axes: false 145 | Show Trail: false 146 | Value: true 147 | pole_bottom_0_link: 148 | Alpha: 1 149 | Show Axes: false 150 | Show Trail: false 151 | Value: true 152 | pole_bottom_1_link: 153 | Alpha: 1 154 | Show Axes: false 155 | Show Trail: false 156 | Value: true 157 | pole_bottom_2_link: 158 | Alpha: 1 159 | Show Axes: false 160 | Show Trail: false 161 | Value: true 162 | pole_bottom_3_link: 163 | Alpha: 1 164 | Show Axes: false 165 | Show Trail: false 166 | Value: true 167 | pole_bottom_4_link: 168 | Alpha: 1 169 | Show Axes: false 170 | Show Trail: false 171 | Value: true 172 | pole_bottom_5_link: 173 | Alpha: 1 174 | Show Axes: false 175 | Show Trail: false 176 | Value: true 177 | pole_kinect_0_link: 178 | Alpha: 1 179 | Show Axes: false 180 | Show Trail: false 181 | Value: true 182 | pole_kinect_1_link: 183 | Alpha: 1 184 | Show Axes: false 185 | Show Trail: false 186 | Value: true 187 | pole_middle_0_link: 188 | Alpha: 1 189 | Show Axes: false 190 | Show Trail: false 191 | Value: true 192 | pole_middle_1_link: 193 | Alpha: 1 194 | Show Axes: false 195 | Show Trail: false 196 | Value: true 197 | pole_middle_2_link: 198 | Alpha: 1 199 | Show Axes: false 200 | Show Trail: false 201 | Value: true 202 | pole_middle_3_link: 203 | Alpha: 1 204 | Show Axes: false 205 | Show Trail: false 206 | Value: true 207 | pole_top_0_link: 208 | Alpha: 1 209 | Show Axes: false 210 | Show Trail: false 211 | Value: true 212 | pole_top_1_link: 213 | Alpha: 1 214 | Show Axes: false 215 | Show Trail: false 216 | Value: true 217 | pole_top_2_link: 218 | Alpha: 1 219 | Show Axes: false 220 | Show Trail: false 221 | Value: true 222 | pole_top_3_link: 223 | Alpha: 1 224 | Show Axes: false 225 | Show Trail: false 226 | Value: true 227 | wheel_left_link: 228 | Alpha: 1 229 | Show Axes: false 230 | Show Trail: false 231 | Value: true 232 | wheel_right_link: 233 | Alpha: 1 234 | Show Axes: false 235 | Show Trail: false 236 | Value: true 237 | Name: RobotModel 238 | Robot Description: robot_description 239 | TF Prefix: "" 240 | Update Interval: 0 241 | Value: true 242 | Visual Enabled: true 243 | - Class: rviz/TF 244 | Enabled: false 245 | Frame Timeout: 15 246 | Frames: 247 | All Enabled: false 248 | Marker Scale: 1 249 | Name: TF 250 | Show Arrows: true 251 | Show Axes: true 252 | Show Names: false 253 | Tree: 254 | {} 255 | Update Interval: 0 256 | Value: false 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/LaserScan 266 | Color: 255; 255; 255 267 | Color Transformer: Intensity 268 | Decay Time: 0 269 | Enabled: true 270 | Invert Rainbow: false 271 | Max Color: 255; 255; 255 272 | Max Intensity: 4096 273 | Min Color: 0; 0; 0 274 | Min Intensity: 0 275 | Name: LaserScan 276 | Position Transformer: XYZ 277 | Queue Size: 10 278 | Selectable: true 279 | Size (Pixels): 3 280 | Size (m): 0.00999999978 281 | Style: Squares 282 | Topic: /scan 283 | Unreliable: false 284 | Use Fixed Frame: true 285 | Use rainbow: true 286 | Value: true 287 | - Alpha: 1 288 | Autocompute Intensity Bounds: true 289 | Autocompute Value Bounds: 290 | Max Value: 10 291 | Min Value: -10 292 | Value: true 293 | Axis: Z 294 | Channel Name: intensity 295 | Class: rviz/PointCloud2 296 | Color: 255; 0; 0 297 | Color Transformer: FlatColor 298 | Decay Time: 0 299 | Enabled: true 300 | Invert Rainbow: false 301 | Max Color: 255; 255; 255 302 | Max Intensity: 4096 303 | Min Color: 0; 0; 0 304 | Min Intensity: 0 305 | Name: Bumper Hit 306 | Position Transformer: XYZ 307 | Queue Size: 10 308 | Selectable: true 309 | Size (Pixels): 3 310 | Size (m): 0.0799999982 311 | Style: Spheres 312 | Topic: /mobile_base/sensors/bumper_pointcloud 313 | Unreliable: false 314 | Use Fixed Frame: true 315 | Use rainbow: true 316 | Value: true 317 | - Alpha: 0.699999988 318 | Class: rviz/Map 319 | Color Scheme: map 320 | Draw Behind: false 321 | Enabled: true 322 | Name: Map 323 | Topic: /map 324 | Unreliable: false 325 | Use Timestamp: false 326 | Value: true 327 | - Class: rviz/Group 328 | Displays: 329 | - Alpha: 0.699999988 330 | Class: rviz/Map 331 | Color Scheme: costmap 332 | Draw Behind: true 333 | Enabled: true 334 | Name: Costmap 335 | Topic: /move_base/global_costmap/costmap 336 | Unreliable: false 337 | Use Timestamp: false 338 | Value: true 339 | - Alpha: 1 340 | Buffer Length: 1 341 | Class: rviz/Path 342 | Color: 255; 0; 0 343 | Enabled: true 344 | Head Diameter: 0.300000012 345 | Head Length: 0.200000003 346 | Length: 0.300000012 347 | Line Style: Lines 348 | Line Width: 0.0299999993 349 | Name: Planner 350 | Offset: 351 | X: 0 352 | Y: 0 353 | Z: 0 354 | Pose Color: 255; 85; 255 355 | Pose Style: None 356 | Radius: 0.0299999993 357 | Shaft Diameter: 0.100000001 358 | Shaft Length: 0.100000001 359 | Topic: /move_base/DWAPlannerROS/local_plan 360 | Unreliable: false 361 | Value: true 362 | Enabled: true 363 | Name: Global Map 364 | - Class: rviz/Group 365 | Displays: 366 | - Alpha: 0.699999988 367 | Class: rviz/Map 368 | Color Scheme: costmap 369 | Draw Behind: false 370 | Enabled: true 371 | Name: Costmap 372 | Topic: /map 373 | Unreliable: false 374 | Use Timestamp: false 375 | Value: true 376 | - Alpha: 1 377 | Buffer Length: 1 378 | Class: rviz/Path 379 | Color: 0; 12; 255 380 | Enabled: true 381 | Head Diameter: 0.300000012 382 | Head Length: 0.200000003 383 | Length: 0.300000012 384 | Line Style: Lines 385 | Line Width: 0.0299999993 386 | Name: Planner 387 | Offset: 388 | X: 0 389 | Y: 0 390 | Z: 0 391 | Pose Color: 255; 85; 255 392 | Pose Style: None 393 | Radius: 0.0299999993 394 | Shaft Diameter: 0.100000001 395 | Shaft Length: 0.100000001 396 | Topic: /move_base/DWAPlannerROS/local_plan 397 | Unreliable: false 398 | Value: true 399 | - Alpha: 0.800000012 400 | Autocompute Intensity Bounds: true 401 | Autocompute Value Bounds: 402 | Max Value: 1.17499995 403 | Min Value: -0.0250000004 404 | Value: true 405 | Axis: Z 406 | Channel Name: total_cost 407 | Class: rviz/PointCloud2 408 | Color: 255; 255; 255 409 | Color Transformer: AxisColor 410 | Decay Time: 0 411 | Enabled: true 412 | Invert Rainbow: false 413 | Max Color: 255; 255; 255 414 | Max Intensity: 785.049988 415 | Min Color: 0; 0; 0 416 | Min Intensity: 29.3899994 417 | Name: Cost Cloud 418 | Position Transformer: XYZ 419 | Queue Size: 10 420 | Selectable: true 421 | Size (Pixels): 3 422 | Size (m): 0.0399999991 423 | Style: Boxes 424 | Topic: /octomap_point_cloud_centers 425 | Unreliable: false 426 | Use Fixed Frame: true 427 | Use rainbow: true 428 | Value: true 429 | - Alpha: 1 430 | Autocompute Intensity Bounds: true 431 | Autocompute Value Bounds: 432 | Max Value: 1.17499995 433 | Min Value: -0.0250000004 434 | Value: true 435 | Axis: Z 436 | Channel Name: total_cost 437 | Class: rviz/PointCloud2 438 | Color: 255; 255; 255 439 | Color Transformer: AxisColor 440 | Decay Time: 0 441 | Enabled: true 442 | Invert Rainbow: false 443 | Max Color: 255; 255; 255 444 | Max Intensity: 9.62100029 445 | Min Color: 0; 0; 0 446 | Min Intensity: 3.62100005 447 | Name: Trajectory Cloud 448 | Position Transformer: XYZ 449 | Queue Size: 10 450 | Selectable: true 451 | Size (Pixels): 3 452 | Size (m): 0.0399999991 453 | Style: Spheres 454 | Topic: /octomap_point_cloud_centers 455 | Unreliable: false 456 | Use Fixed Frame: true 457 | Use rainbow: true 458 | Value: true 459 | Enabled: true 460 | Name: Local Map 461 | - Alpha: 1 462 | Arrow Length: 0.200000003 463 | Axes Length: 0.300000012 464 | Axes Radius: 0.00999999978 465 | Class: rviz/PoseArray 466 | Color: 0; 192; 0 467 | Enabled: true 468 | Head Length: 0.0700000003 469 | Head Radius: 0.0299999993 470 | Name: Amcl Particle Swarm 471 | Shaft Length: 0.230000004 472 | Shaft Radius: 0.00999999978 473 | Shape: Arrow (Flat) 474 | Topic: /particlecloud 475 | Unreliable: false 476 | Value: true 477 | - Alpha: 1 478 | Buffer Length: 1 479 | Class: rviz/Path 480 | Color: 25; 255; 0 481 | Enabled: true 482 | Head Diameter: 0.300000012 483 | Head Length: 0.200000003 484 | Length: 0.300000012 485 | Line Style: Lines 486 | Line Width: 0.0299999993 487 | Name: Full Plan 488 | Offset: 489 | X: 0 490 | Y: 0 491 | Z: 0 492 | Pose Color: 255; 85; 255 493 | Pose Style: None 494 | Radius: 0.0299999993 495 | Shaft Diameter: 0.100000001 496 | Shaft Length: 0.100000001 497 | Topic: /move_base/NavfnROS/plan 498 | Unreliable: false 499 | Value: true 500 | Enabled: true 501 | Global Options: 502 | Background Color: 48; 48; 48 503 | Fixed Frame: map 504 | Frame Rate: 30 505 | Name: root 506 | Tools: 507 | - Class: rviz/MoveCamera 508 | - Class: rviz/Interact 509 | Hide Inactive Objects: true 510 | - Class: rviz/Select 511 | - Class: rviz/SetInitialPose 512 | Topic: /initialpose 513 | - Class: rviz/SetGoal 514 | Topic: /move_base_simple/goal 515 | - Class: rviz/Measure 516 | - Class: rviz/PublishPoint 517 | Single click: true 518 | Topic: /clicked_point 519 | Value: true 520 | Views: 521 | Current: 522 | Class: rviz/XYOrbit 523 | Distance: 24.6926537 524 | Enable Stereo Rendering: 525 | Stereo Eye Separation: 0.0599999987 526 | Stereo Focal Distance: 1 527 | Swap Stereo Eyes: false 528 | Value: false 529 | Focal Point: 530 | X: -0.600956917 531 | Y: -0.42105341 532 | Z: 1.43051147e-06 533 | Focal Shape Fixed Size: true 534 | Focal Shape Size: 0.0500000007 535 | Invert Z Axis: false 536 | Name: Current View 537 | Near Clip Distance: 0.00999999978 538 | Pitch: -0.0596006289 539 | Target Frame: 540 | Value: XYOrbit (rviz) 541 | Yaw: 4.13358402 542 | Saved: ~ 543 | Window Geometry: 544 | Displays: 545 | collapsed: false 546 | Height: 1028 547 | Hide Left Dock: false 548 | Hide Right Dock: true 549 | QMainWindow State: 000000ff00000000fd00000004000000000000016a000003befc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003be000000dd00ffffff000000010000010f000003befc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003be000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000250000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 550 | Selection: 551 | collapsed: false 552 | Time: 553 | collapsed: false 554 | Tool Properties: 555 | collapsed: false 556 | Views: 557 | collapsed: true 558 | Width: 960 559 | X: 2880 560 | Y: 24 561 | -------------------------------------------------------------------------------- /worlds/.gitkeep: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tanukitoshika/multi_robot_sim/287dcf31b4e3cc8eaa378242ce164c6a295159c7/worlds/.gitkeep -------------------------------------------------------------------------------- /worlds/corridor.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1 5 | 0 0 10 0 -0 0 6 | 0.8 0.8 0.8 1 7 | 0.2 0.2 0.2 1 8 | 9 | 1000 10 | 0.9 11 | 0.01 12 | 0.001 13 | 14 | -0.5 0.1 -0.9 15 | 16 | 17 | 1 18 | 19 | 20 | 21 | 22 | 0 0 1 23 | 100 100 24 | 25 | 26 | 27 | 28 | 29 | 100 30 | 50 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 10 39 | 40 | 41 | 0 42 | 43 | 44 | 0 0 1 45 | 100 100 46 | 47 | 48 | 49 | 53 | 54 | 55 | 56 | 0 57 | 0 58 | 59 | 0 60 | 0 61 | 1 62 | 63 | 64 | 65 | 0.001 66 | 1 67 | 1000 68 | 0 0 -9.8 69 | 70 | 71 | 0.4 0.4 0.4 1 72 | 0.7 0.7 0.7 1 73 | 1 74 | 75 | 76 | EARTH_WGS84 77 | 0 78 | 0 79 | 0 80 | 0 81 | 82 | 83 | 1 84 | 85 | 0 0 1.4 0 -0 0 86 | 87 | 88 | 89 | 7.5 0.2 2.8 90 | 91 | 92 | 10 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 0 105 | 106 | 107 | 7.5 0.2 2.8 108 | 109 | 110 | 111 | 116 | 117 | 118 | 119 | 0 120 | 0 121 | 122 | 0 123 | 0 124 | 1 125 | 126 | -2.53262 -5 0 0 -0 0 127 | 128 | 129 | 1 130 | 131 | 0 0 1.4 0 -0 0 132 | 133 | 134 | 135 | 7.5 0.2 2.8 136 | 137 | 138 | 10 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 0 151 | 152 | 153 | 7.5 0.2 2.8 154 | 155 | 156 | 157 | 162 | 163 | 164 | 165 | 0 166 | 0 167 | 168 | 0 169 | 0 170 | 1 171 | 172 | -2.49784 -3 0 0 -0 0 173 | 174 | 175 | 1 176 | 177 | 0 0 1.4 0 -0 0 178 | 179 | 180 | 181 | 7.5 0.2 2.8 182 | 183 | 184 | 10 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 0 197 | 198 | 199 | 7.5 0.2 2.8 200 | 201 | 202 | 203 | 208 | 209 | 210 | 211 | 0 212 | 0 213 | 214 | 0 215 | 0 216 | 1 217 | 218 | -2.53835 -1 0 0 -0 0 219 | 220 | 221 | 1 222 | 223 | 0 0 1.4 0 -0 0 224 | 225 | 226 | 227 | 7.5 0.2 2.8 228 | 229 | 230 | 10 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 0 243 | 244 | 245 | 7.5 0.2 2.8 246 | 247 | 248 | 249 | 254 | 255 | 256 | 257 | 0 258 | 0 259 | 260 | 0 261 | 0 262 | 1 263 | 264 | -4.55904 0 0 0 -0 0 265 | 266 | 267 | 1 268 | 269 | 0 0 1.4 0 -0 0 270 | 271 | 272 | 273 | 7.5 0.2 2.8 274 | 275 | 276 | 10 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 0 289 | 290 | 291 | 7.5 0.2 2.8 292 | 293 | 294 | 295 | 300 | 301 | 302 | 303 | 0 304 | 0 305 | 306 | 0 307 | 0 308 | 1 309 | 310 | 5 1 0 0 -0 0 311 | 312 | 313 | 1 314 | 315 | 0 0 1.4 0 -0 0 316 | 317 | 318 | 319 | 7.5 0.2 2.8 320 | 321 | 322 | 10 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 0 335 | 336 | 337 | 7.5 0.2 2.8 338 | 339 | 340 | 341 | 346 | 347 | 348 | 349 | 0 350 | 0 351 | 352 | 0 353 | 0 354 | 1 355 | 356 | -4.5188 -5 0 0 -0 0 357 | 358 | 359 | 1 360 | 361 | 0 0 1.4 0 -0 0 362 | 363 | 364 | 365 | 7.5 0.2 2.8 366 | 367 | 368 | 10 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 0 381 | 382 | 383 | 7.5 0.2 2.8 384 | 385 | 386 | 387 | 392 | 393 | 394 | 395 | 0 396 | 0 397 | 398 | 0 399 | 0 400 | 1 401 | 402 | -2 2 0 0 -0 0 403 | 404 | 405 | 1 406 | 407 | 0 0 1.4 0 -0 0 408 | 409 | 410 | 411 | 7.5 0.2 2.8 412 | 413 | 414 | 10 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 0 427 | 428 | 429 | 7.5 0.2 2.8 430 | 431 | 432 | 433 | 438 | 439 | 440 | 441 | 0 442 | 0 443 | 444 | 0 445 | 0 446 | 1 447 | 448 | 3 4.52028 0 0 -0 0 449 | 450 | 451 | 221 632000000 452 | 221 996865284 453 | 1414562832 935789187 454 | 455 | -4.45669 4.51369 0 0 -0 0 456 | 457 | -4.45669 4.51369 1.4 0 -0 0 458 | 0 0 0 0 -0 0 459 | 0 0 0 0 -0 0 460 | 0 0 0 0 -0 0 461 | 462 | 463 | 464 | -4.17438 -2.94975 0 0 -0 0 465 | 466 | -4.17438 -2.94975 1.4 0 -0 0 467 | 0 0 0 0 -0 0 468 | 0 0 0 0 -0 0 469 | 0 0 0 0 -0 0 470 | 471 | 472 | 473 | -8.24091 0.730795 0 0 0 -1.53854 474 | 475 | -8.24091 0.730795 1.4 0 0 -1.53854 476 | 0 0 0 0 -0 0 477 | 0 0 0 0 -0 0 478 | 0 0 0 0 -0 0 479 | 480 | 481 | 482 | -4.55904 0 0 0 -0 0 483 | 484 | -4.55904 0 1.4 0 -0 0 485 | 0 0 0 0 -0 0 486 | 0 0 0 0 -0 0 487 | 0 0 0 0 -0 0 488 | 489 | 490 | 491 | 1.76758 0.74778 0.002123 0 0 -1.57102 492 | 493 | 1.76758 0.74778 1.40212 0 0 -1.57102 494 | 0 0 0 0 -0 0 495 | 0 0 0 0 -0 0 496 | 0 0 0 0 -0 0 497 | 498 | 499 | 500 | 0.431481 -2.92293 0 0 -0 0 501 | 502 | 0.431481 -2.92293 1.4 0 -0 0 503 | 0 0 0 0 -0 0 504 | 0 0 0 0 -0 0 505 | 0 0 0 0 -0 0 506 | 507 | 508 | 509 | -2 2 0 0 -0 0 510 | 511 | -2 2 1.4 0 -0 0 512 | 0 0 0 0 -0 0 513 | 0 0 0 0 -0 0 514 | 0 0 0 0 -0 0 515 | 516 | 517 | 518 | 3 4.52028 0 0 -0 0 519 | 520 | 3 4.52028 1.4 0 -0 0 521 | 0 0 0 0 -0 0 522 | 0 0 0 0 -0 0 523 | 0 0 0 0 -0 0 524 | 525 | 526 | 527 | 0 0 0 0 -0 0 528 | 529 | 0 0 0 0 -0 0 530 | 0 0 0 0 -0 0 531 | 0 0 0 0 -0 0 532 | 0 0 0 0 -0 0 533 | 534 | 535 | 536 | 537 | 538 | 0.59881 -4.06701 27.182 -2.2526e-16 1.3218 2.2322 539 | orbit 540 | 541 | 542 | 543 | 544 | -------------------------------------------------------------------------------- /worlds/empty.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://sun 7 | 8 | 9 | 10 | model://ground_plane 11 | 12 | 13 | 14 | 0.01 15 | 1 16 | 100 17 | 0 0 -9.8 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /worlds/playground.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1 5 | 0 0 10 0 -0 0 6 | 0.8 0.8 0.8 1 7 | 0.2 0.2 0.2 1 8 | 9 | 1000 10 | 0.9 11 | 0.01 12 | 0.001 13 | 14 | 0.5 0.1 -0.9 15 | 16 | 17 | 0.4 0.4 0.4 1 18 | 0.7 0.7 0.7 1 19 | 1 20 | 21 | 22 | 0.01 23 | 1 24 | 100 25 | 0 0 -9.8 26 | 27 | 28 | 1 29 | 30 | 31 | 1 32 | 33 | 34 | 0 0.005 0.6 0 -0 0 35 | 36 | 37 | 0.9 0.01 1.2 38 | 39 | 40 | 10 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 0 0.005 0.6 0 -0 0 53 | 54 | 55 | 0.9 0.01 1.2 56 | 57 | 58 | 59 | 63 | 64 | 65 | 66 | 0.45 -0.195 0.6 0 -0 0 67 | 68 | 69 | 0.02 0.4 1.2 70 | 71 | 72 | 10 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 0.45 -0.195 0.6 0 -0 0 85 | 86 | 87 | 0.02 0.4 1.2 88 | 89 | 90 | 91 | 95 | 96 | 97 | 98 | -0.45 -0.195 0.6 0 -0 0 99 | 100 | 101 | 0.02 0.4 1.2 102 | 103 | 104 | 10 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | -0.45 -0.195 0.6 0 -0 0 117 | 118 | 119 | 0.02 0.4 1.2 120 | 121 | 122 | 123 | 127 | 128 | 129 | 130 | 0 -0.195 0.03 0 -0 0 131 | 132 | 133 | 0.88 0.4 0.06 134 | 135 | 136 | 10 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 0 -0.195 0.03 0 -0 0 149 | 150 | 151 | 0.88 0.4 0.06 152 | 153 | 154 | 155 | 159 | 160 | 161 | 162 | 0 -0.195 1.19 0 -0 0 163 | 164 | 165 | 0.88 0.4 0.02 166 | 167 | 168 | 10 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 0 -0.195 1.19 0 -0 0 181 | 182 | 183 | 0.88 0.4 0.02 184 | 185 | 186 | 187 | 191 | 192 | 193 | 194 | 0 -0.195 0.43 0 -0 0 195 | 196 | 197 | 0.88 0.4 0.02 198 | 199 | 200 | 10 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 0 -0.195 0.43 0 -0 0 213 | 214 | 215 | 0.88 0.4 0.02 216 | 217 | 218 | 219 | 223 | 224 | 225 | 226 | 0 -0.195 0.8 0 -0 0 227 | 228 | 229 | 0.88 0.4 0.02 230 | 231 | 232 | 10 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 0 -0.195 0.8 0 -0 0 245 | 246 | 247 | 0.88 0.4 0.02 248 | 249 | 250 | 251 | 255 | 256 | 257 | 258 | 0 259 | 0 260 | 261 | 0 262 | 0 263 | 1 264 | 265 | 0 1.53026 0 0 -0 0 266 | 267 | 268 | 1 269 | 270 | 271 | 272 | 273 | model://jersey_barrier/meshes/jersey_barrier.dae 274 | 275 | 276 | 277 | 278 | 0 0 0.5715 0 -0 0 279 | 280 | 281 | 4.06542 0.3063 1.143 282 | 283 | 284 | 10 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 0 0 0.032258 0 -0 0 297 | 298 | 299 | 4.06542 0.8107 0.064516 300 | 301 | 302 | 10 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 0 0 0.1 0 -0 0 315 | 316 | 317 | 4.06542 0.65 0.1 318 | 319 | 320 | 10 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 0 0 0.2 0 -0 0 333 | 334 | 335 | 4.06542 0.5 0.1 336 | 337 | 338 | 10 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 0 -0.224 0.2401 0.9 -0 0 351 | 352 | 353 | 4.06542 0.5 0.064516 354 | 355 | 356 | 10 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 0 0.224 0.2401 -0.9 0 0 369 | 370 | 371 | 4.06542 0.5 0.064516 372 | 373 | 374 | 10 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 0 387 | 0 388 | 389 | 0 390 | 0 391 | 1 392 | 393 | -4 -1 0 0 -0 -0.7 394 | 395 | 396 | 1 397 | 398 | 399 | 400 | 401 | 0 0 1 402 | 100 100 403 | 404 | 405 | 406 | 407 | 408 | 100 409 | 50 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 10 418 | 419 | 420 | 0 421 | 422 | 423 | 0 0 1 424 | 100 100 425 | 426 | 427 | 428 | 432 | 433 | 434 | 435 | 0 436 | 0 437 | 438 | 0 439 | 0 440 | 1 441 | 442 | 0.497681 0 0 0 -0 0 443 | 444 | 445 | 0 0 446 | 0 44986 447 | 1377677575 940727583 448 | 449 | 1 -3.44458 0 0 -0 0 450 | 451 | 1 -3.44458 0 0 -0 0 452 | 0 0 0 0 -0 0 453 | 0 0 0 0 -0 0 454 | 0 0 0 0 -0 0 455 | 456 | 457 | 458 | 1.41131 -1 0 0 -0 0.9 459 | 460 | 1.41131 -1 0.5 0 -0 0.9 461 | 0 0 0 0 -0 0 462 | 0 0 0 0 -0 0 463 | 0 0 0 0 -0 0 464 | 465 | 466 | 467 | -2 -3.4888 0.5 0 -0 0 468 | 469 | -2 -3.4888 0.5 0 -0 0 470 | 0 0 0 0 -0 0 471 | 0 0 0 0 -0 0 472 | 0 0 0 0 -0 0 473 | 474 | 475 | 476 | 477 | 478 | 1.33336 -0.422442 27.6101 3e-06 1.5698 3.04015 479 | orbit 480 | 481 | 482 | 483 | -2 -3.4888 0.5 0 -0 0 484 | 485 | 486 | 1 487 | 488 | 1 489 | 0 490 | 0 491 | 1 492 | 0 493 | 1 494 | 495 | 496 | 497 | 498 | 499 | 0.5 500 | 1 501 | 502 | 503 | 10 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 0.5 518 | 1 519 | 520 | 521 | 522 | 526 | 527 | 528 | 529 | 0 530 | 0 531 | 532 | 0 533 | 0 534 | 1 535 | 536 | 0 537 | 538 | 539 | 540 | 541 | 542 | 543 | model://dumpster/meshes/dumpster.dae 544 | 545 | 546 | 10 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | model://dumpster/meshes/dumpster.dae 561 | 562 | 563 | 564 | 569 | 570 | 571 | 572 | 0 573 | 0 574 | 575 | 0 576 | 577 | 578 | 1 579 | 0 580 | 0 581 | 1 582 | 0 583 | 1 584 | 585 | 1 586 | 587 | 0 588 | 1 589 | 590 | 1 -3.44458 0 0 -0 -0.3 591 | 0 592 | 593 | 594 | 595 | 0 0 0.5 0 -0 0 596 | 597 | 598 | 599 | model://cube_20k/meshes/cube_20k.stl 600 | 0.5 0.5 0.5 601 | 602 | 603 | 10 604 | 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 613 | 614 | 615 | 616 | 617 | model://cube_20k/meshes/cube_20k.stl 618 | 0.5 0.5 0.5 619 | 620 | 621 | 622 | 623 | 0 624 | 0 625 | 626 | 0 627 | 628 | 629 | 1 630 | 0 631 | 0 632 | 1 633 | 0 634 | 1 635 | 636 | 1 637 | 638 | 0 639 | 1 640 | 641 | 1.41131 -1 0 0 -0 0.9 642 | 0 643 | 644 | 645 | 646 | --------------------------------------------------------------------------------