diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..43ed185 --- /dev/null +++ b/.gitignore @@ -0,0 +1,19 @@ +# Python +__pycache__/ +*.pyc + +# ROS +build/ +devel/ +logs/ +install/ +build_isolated/ +devel_isolated/ +*.bag +CATKIN_IGNORE + +# Misc +.vscode/ +*.swp +log/ +test/ diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..d84f3a6 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.5) +project(rmul24_gazebo_simulator) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY + config + launch + rviz + resource + + DESTINATION share/${PROJECT_NAME}/ +) + +#environment +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gazebo.dsv.in") + +ament_package() diff --git a/README.md b/README.md new file mode 100644 index 0000000..04cc685 --- /dev/null +++ b/README.md @@ -0,0 +1,101 @@ +# rmul24_gazebo_simulator + +[![State-of-the-art Shitcode](https://img.shields.io/static/v1?label=State-of-the-art&message=Shitcode&color=7B5804)](https://github.com/trekhleb/state-of-the-art-shitcode) + +> Still in **develop**, shit code + +## 简介 + +rmul24_gazebo_simulator 是基于 Gazebo (Ignition 字母版本) 的仿真环境，为 RoboMaster University League 中的机器人算法开发提供仿真环境，方便测试 AI 算法，加快开发效率。 + +目前 rmul24_gazebo_simulator 还不完善，仅提供以下功能： + +在 rmua19 标准机器人（rmua19_standard_robot）上增加相关传感器，构建不同机器人模型: + +- rmua19_standard_robot_a：搭载云台相机 industrial_camera和搭载激光雷达 rplidar_a2，其中相机放置有在 yaw 轴。 + +- rmua19_standard_robot_b：搭载云台相机 industrial_camera 和搭载激光雷达 rplidar_a2，其中相机放置有在 pitch 轴。 + +- rmul24_sentry_robot：搭载云台相机 industrial_camera 和搭载激光雷达 rplidar_a2 和 Livox mid360，其中相机放置有在 pitch 轴 + +构建 RoboMaster University League 2024 简易场地 (models/RMUL_2024): + +## 一. 基本使用 + +### 1.1 环境配置 + +- ROS2 版本要求: `Humble` + +- Gazebo 仿真器版本要求: `Fortress` + +```sh +cd ros_ws/src + +git clone https://github.com/LihanChen2004/rmoss_interfaces.git +git clone https://github.com/LihanChen2004/rmoss_core.git +git clone https://github.com/LihanChen2004/rmoss_gazebo.git +git clone https://github.com/LihanChen2004/rmoss_gz_resources.git --depth=1 +git clone https://github.com/gezp/sdformat_tools.git +git clone https://github.com/LihanChen2004/rmul24_gazebo_simulator.git + +pip install xmacro +``` + +### 1.2 启动仿真环境 + +1. 启动仿真环境 + + ```sh + ros2 launch rmul24_gazebo_simulator develop.launch.py + ``` + + **注意：需要点击 Gazebo 左下角橙红色的 `启动` 按钮** + +2. 控制机器人移动 + + ```sh + ros2 run rmoss_gz_base test_chassis_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base -p v:=0.3 -p w:=0.3 + #根据提示进行输入，支持平移与自旋 + ``` + +3. 控制机器人云台 + + ```sh + ros2 run rmoss_gz_base test_gimbal_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base + #根据提示进行输入，支持绝对角度控制 + ``` + +4. 机器人射击 + + ```sh + ros2 run rmoss_gz_base test_shoot_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base + #根据提示进行输入 + ``` + +5. 运行裁判系统 + + ```sh + ros2 run rmua19_gazebo_simulator simple_competition_1v1_referee.py + ``` + + 弹丸伤害为10，每个机器人HP为500，直到HP为0时，裁判系统输出胜利者，程序退出。（可重新运行开始） + + 通过解析并处理攻击信息 `/referee_system/attack_info` （包括射击者信息以及击中目标信息）实现裁判功能 + +## TODO + +考试月启动... 2024.6.28~7.12 + +- [ ] mid360 改名为 livox_mid360 + +- [ ] TF Tree 都加上命名空间 + +- [ ] 删除 ignition plugin 中的 `ignition_frame_id` + +- [ ] launch 中分离世界生成和机器人生成 + +## 维护者及开源许可证 + +Maintainer: Lihan Chen, + +rmul24_gazebo_simulator is provided under Apache License 2.0. diff --git a/config/base_params.yaml b/config/base_params.yaml new file mode 100644 index 0000000..321d118 --- /dev/null +++ b/config/base_params.yaml @@ -0,0 +1,30 @@ +/**: + ros__parameters: + world_name: "default" + chassis_controller: + follow_yaw: true + follow_yaw_pid: + p: 5.0 + i: 0.0 + d: 1.0 + imin: -1.0 + imax: 1.0 + cmdmin: -1000.0 + cmdmax: 1000.0 + gimbal_controller: + pitch_pid: + p: 11.0 + i: 0.0 + d: 1.0 + imin: -1.0 + imax: 1.0 + cmdmin: -1000.0 + cmdmax: 1000.0 + yaw_pid: + p: 11.0 + i: 0.0 + d: 0.0 + imin: -1.0 + imax: 1.0 + cmdmin: -1000.0 + cmdmax: 1000.0 diff --git a/config/referee_system_1v1.yaml b/config/referee_system_1v1.yaml new file mode 100644 index 0000000..f6473d4 --- /dev/null +++ b/config/referee_system_1v1.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + max_hp: 500 + initial_projectiles: 200 diff --git a/config/ros_gz_bridge.yaml b/config/ros_gz_bridge.yaml new file mode 100644 index 0000000..46ad576 --- /dev/null +++ b/config/ros_gz_bridge.yaml @@ -0,0 +1,69 @@ +- ros_topic_name: "/clock" + gz_topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "ignition.msgs.Clock" + direction: "GZ_TO_ROS" + +# PosePublisher +# - ros_topic_name: "/tf" +# gz_topic_name: "/model//pose" +# ros_type_name: "tf2_msgs/msg/TFMessage" +# gz_type_name: "ignition.msgs.Pose_V" +# direction: "GZ_TO_ROS" + +# - ros_topic_name: "/tf_static" +# gz_topic_name: "/model//pose_static" +# ros_type_name: "tf2_msgs/msg/TFMessage" +# gz_type_name: "ignition.msgs.Pose_V" +# direction: "GZ_TO_ROS" + +# - ros_topic_name: "//odom" +# gz_topic_name: "//odometry" +# ros_type_name: "nav_msgs/msg/Odometry" +# gz_type_name: "ignition.msgs.Odometry" +# direction: "GZ_TO_ROS" + +# Global odometry +- ros_topic_name: "/odom" + gz_topic_name: "/odom" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "ignition.msgs.Odometry" + direction: "GZ_TO_ROS" + +# OdometryPublisher publish tf from `odom` to `chassis`, used for navigation2 +- ros_topic_name: "/tf" + gz_topic_name: "/odom/tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "ignition.msgs.Pose_V" + direction: "GZ_TO_ROS" + +# JointStatePublisher publish +- ros_topic_name: "//joint_state" + gz_topic_name: "/world/default/model//joint_state" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "ignition.msgs.Model" + direction: "GZ_TO_ROS" + +- ros_topic_name: "//front_camera/image" + gz_topic_name: "/world/default/model//link/front_industrial_camera/sensor/front_industrial_camera/image" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "ignition.msgs.Image" + direction: "GZ_TO_ROS" + +- ros_topic_name: "//rplidar_a2/scan" + gz_topic_name: "/world/default/model//link/front_rplidar_a2/sensor/front_rplidar_a2/scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "ignition.msgs.LaserScan" + direction: "GZ_TO_ROS" + +- ros_topic_name: "//livox/lidar" + gz_topic_name: "/world/default/model//link/right_mid360/sensor/right_mid360_lidar/scan/points" + ros_type_name: "sensor_msgs/msg/PointCloud2" + gz_type_name: "ignition.msgs.PointCloudPacked" + direction: "GZ_TO_ROS" + +- ros_topic_name: "//livox/imu" + gz_topic_name: "/world/default/model//link/right_mid360/sensor/right_mid360_imu/imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "ignition.msgs.IMU" + direction: "GZ_TO_ROS" \ No newline at end of file diff --git a/env-hooks/gazebo.dsv.in b/env-hooks/gazebo.dsv.in new file mode 100644 index 0000000..4e6f181 --- /dev/null +++ b/env-hooks/gazebo.dsv.in @@ -0,0 +1,7 @@ +prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/resource/models +prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/resource/worlds +set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3 +prepend-non-duplicate;SDF_PATH;share/@PROJECT_NAME@/resource/models +prepend-non-duplicate;SDF_PATH;share/@PROJECT_NAME@/resource/worlds +prepend-non-duplicate;IGN_FILE_PATH;share/@PROJECT_NAME@/resource/models +prepend-non-duplicate;IGN_FILE_PATH;share/@PROJECT_NAME@/resource/worlds diff --git a/launch/develop.launch.py b/launch/develop.launch.py new file mode 100644 index 0000000..ac25057 --- /dev/null +++ b/launch/develop.launch.py @@ -0,0 +1,147 @@ +# Copyright 2021 RoboMaster-OSS +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, AppendEnvironmentVariable +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration +from nav2_common.launch import ReplaceString + +from xmacro.xmacro4sdf import XMLMacro4sdf +from sdformat_tools.urdf_generator import UrdfGenerator + +def generate_launch_description(): + ld = LaunchDescription() + position_x = LaunchConfiguration("position_x") + position_y = LaunchConfiguration("position_y") + orientation_yaw = LaunchConfiguration("orientation_yaw") + + pkg_rmul24_gazebo_simulator = get_package_share_directory('rmul24_gazebo_simulator') + world_sdf_path = os.path.join(pkg_rmul24_gazebo_simulator, 'resource', 'worlds', 'rmul24_world.sdf') + robot_xmacro_path = os.path.join(pkg_rmul24_gazebo_simulator, 'resource', 'xmacro', 'rmul24_sentry_robot.sdf.xmacro') + robot_config = os.path.join(pkg_rmul24_gazebo_simulator, 'config', 'base_params.yaml') + bridge_config = os.path.join(pkg_rmul24_gazebo_simulator, 'config', 'ros_gz_bridge.yaml') + robot_sdf_path=os.path.join(pkg_rmul24_gazebo_simulator, 'resource', 'xmacro', 'rmul24_sentry_robot.sdf') + + urdf_generator = UrdfGenerator() + urdf_generator.parse_from_sdf_file(robot_sdf_path) + robot_urdf_xml = urdf_generator.to_string() + + declare_position_x_cmd = DeclareLaunchArgument( + 'position_x', default_value='4.3', + description='X position of the robot') + + declare_position_y_cmd = DeclareLaunchArgument( + 'position_y', default_value='3.35', + description='Y position of the robot') + + declare_orientation_yaw_cmd = DeclareLaunchArgument( + 'orientation_yaw', default_value='0.0', + description='Yaw orientation of the robot') + + # Set Gazebo plugin path + append_enviroment_worlds = AppendEnvironmentVariable( + name='GAZEBO_PLUGIN_PATH', + value=os.path.join(pkg_rmul24_gazebo_simulator, "resource", "worlds") + ) + + append_enviroment_models = AppendEnvironmentVariable( + name='IGN_GAZEBO_RESOURCE_PATH', + value=os.path.join(pkg_rmul24_gazebo_simulator, "resource", "models") + ) + + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory('ros_gz_sim'), "launch", "gz_sim.launch.py") + ), + launch_arguments={ + "gz_version": "6", + "gz_args" : world_sdf_path + }.items() + ) + + robot_names=["red_standard_robot1"] + + # Spawn robot + robot_macro = XMLMacro4sdf() + robot_macro.set_xml_file(robot_xmacro_path) + robot_macro.generate({'global_initial_color': 'red'}) + robot_xml = robot_macro.to_string() + + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + '-string', robot_xml, + "-name", robot_names[0], + "-allow_renaming", "true", + "-x", position_x, + "-y", position_y, + "-z", "1.2", + "-Y", orientation_yaw + ] + ) + + # robot base for each robot + for robot_name in robot_names: + params_file = ReplaceString( + source_file=bridge_config, + replacements={'': robot_name}, + ) + + robot_base = Node( + package='rmoss_gz_base', + executable='rmua19_robot_base', + namespace=robot_name, + parameters=[ + robot_config, + {'robot_name': robot_name}, + ], + output='screen') + ld.add_action(robot_base) + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + parameters=[{'robot_description': robot_urdf_xml}], + remappings=[ + ('/joint_states', f'{robot_name}/joint_state'), + ] + ) + ld.add_action(robot_state_publisher) # it will publish tf and tf_static, but without namespace + + robot_ign_bridge = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + namespace=robot_name, + parameters=[ + {'config_file': params_file} + ], + ) + ld.add_action(robot_ign_bridge) + + ld.add_action(append_enviroment_worlds) + ld.add_action(append_enviroment_models) + ld.add_action(declare_position_x_cmd) + ld.add_action(declare_position_y_cmd) + ld.add_action(declare_orientation_yaw_cmd) + ld.add_action(gazebo) + ld.add_action(gz_spawn_entity) + + return ld diff --git a/launch/rviz.launch.py b/launch/rviz.launch.py new file mode 100644 index 0000000..98466ef --- /dev/null +++ b/launch/rviz.launch.py @@ -0,0 +1,21 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + + start_rviz2 = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', os.path.join(get_package_share_directory('rmul24_gazebo_simulator'), 'rviz', 'visualize.rviz')] + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(start_rviz2) + + return ld \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..7cc4164 --- /dev/null +++ b/package.xml @@ -0,0 +1,35 @@ + + + rmul24_gazebo_simulator + 1.0.0 + rmul24_gazebo_simulator + + Lihan Chen + MIT + + ament_cmake + + ament_index_python + launch + launch_ros + robot_state_publisher + xacro + + ros_gz_sim + ros_gz_bridge + rmoss_core + rmoss_interfaces + rmoss_gz_base + rmoss_gz_cam + rmoss_gz_plugins + rmoss_gz_resources + sdformat_tools + + ament_cmake_gtest + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/resource/models/RMUL_2024/.DS_Store b/resource/models/RMUL_2024/.DS_Store new file mode 100644 index 0000000..96f2a05 Binary files /dev/null and b/resource/models/RMUL_2024/.DS_Store differ diff --git 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/resource/models/industrial_camera/model.config b/resource/models/industrial_camera/model.config new file mode 100644 index 0000000..d0382dc --- /dev/null +++ b/resource/models/industrial_camera/model.config @@ -0,0 +1,14 @@ + + + industrial_camera + 1.0 + model.sdf + + zhenpeng ge + zhenpeng.ge@qq.com + + + A simple industrial camera model, the 3D model is from internel and is modified. + refer to http://glib.zhizaoyun.com/html/201501/4_1_87434.html?winzoom=1 + + \ No newline at end of file diff --git a/resource/models/industrial_camera/model.sdf b/resource/models/industrial_camera/model.sdf new file mode 100644 index 0000000..5a13c80 --- /dev/null +++ b/resource/models/industrial_camera/model.sdf @@ -0,0 +1,89 @@ + + + + + + + + + 0 0 0.2 0 0 0 + + + 0.4 + + 0.01066666666666667 + 0 + 0 + 0.01066666666666667 + 0 + 0.01066666666666667 + + + + + + 0.4 0.4 0.4 + + + + + + + 0.4 0.4 0.4 + + + + + + 0 0 0.216 0 0 0 + base_link + simple_industrial_camera + + + 0 0 0 0 0 0 + + 0.025 0 0 0 0 0 + 0.05 + + 7.141666666666669e-06 + 0 + 0 + 3.1204166666666675e-05 + 0 + 2.9270833333333334e-05 + + + + + + model://industrial_camera/meshes/industrial_camera.dae + + + + + 0.025 0 0 0 0 0 + + + 0.08 0.025 0.033 + + + + + 1 + 30.0 + + 1.0 + + 640.0 + 480.0 + + + 0.1 + 100 + + + + + + + diff --git a/resource/models/industrial_camera/model.sdf.xmacro b/resource/models/industrial_camera/model.sdf.xmacro new file mode 100644 index 0000000..f60763c --- /dev/null +++ b/resource/models/industrial_camera/model.sdf.xmacro @@ -0,0 +1,56 @@ + + + + + + ${pose} + ${parent} + ${prefix}industrial_camera + + + 0 0 0 0 0 0 + + 0.025 0 0 0 0 0 + + + + + + + 0.025 0 0 0 0 0 + + + + 1 + ${update_rate} + + ${horizontal_fov} + + ${width} + ${height} + + + 0.1 + 100 + + + + + + + 0 0 0.2 0 0 0 + + + + + + + + + + + + + + diff --git a/resource/models/mid360/meshes/mid360.dae b/resource/models/mid360/meshes/mid360.dae new file mode 100644 index 0000000..fd2495b --- /dev/null +++ b/resource/models/mid360/meshes/mid360.dae @@ -0,0 +1,284 @@ + + + + + Blender User + Blender 4.1.1 commit date:2024-04-15, commit time:15:11, hash:e1743a0317bc + + 2024-06-29T08:57:54 + 2024-06-29T08:57:54 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.4 0.4 0.4 1 + + + 0.7 + + + 1.5 + + + + + + + + + + + 0 0 0 1 + + + 0.4 0.4 0.4 1 + + + 0.7 + + + 1.5 + + + + + + + + + + + 0 0 0 1 + + + 0.4 0.4 0.4 1 + + + 0.7 + + + 1.5 + + + + + + + + + + + 0 0 0 1 + + + 0.6038273 0.6038273 0.6038273 1 + + + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + -23.27969 5.906852 10.55731 -22.1656 6.601002 12.6598 -23.17632 6.601002 10.69779 -24.01377 6.601002 8.655817 -24.16481 5.356517 8.430315 -24.67172 6.601002 6.549121 -24.79869 4.963138 6.401897 -25.14521 6.601002 4.393471 -25.30955 4.646105 4.024513 -25.43074 6.601002 2.204977 -25.55939 4.490187 1.999825 -25.5262 6.600116 -1.33108e-7 -25.63935 4.441141 0 -25.54573 4.498751 -2.161899 -25.43083 6.600116 -2.20446 -25.25311 4.68118 -4.351688 -25.14544 6.600116 -4.392447 -24.71741 5.013554 -6.701018 -24.67216 6.600116 -6.547615 -24.05762 5.423118 -8.720335 -24.01453 6.600116 -8.653861 -23.21136 5.949347 -10.70137 -23.17745 6.600116 -10.69544 -22.1673 6.597846 -12.65716 + + + + + + + + + + -0.9162915 0.04767584 0.3976646 -0.8882775 0.03966897 0.4575911 -0.9067915 0.05033117 0.4185642 -0.9368925 0.05494886 0.3452724 -0.9466635 0.05130863 0.3181126 -0.9629333 0.05501955 0.2640689 -0.9713691 0.04892688 0.2324829 -0.9819943 0.05256551 0.1814498 -0.9870645 0.05034637 0.1522131 -0.9939069 0.05489343 0.09558099 -0.9964204 0.05275273 0.06605726 -0.9985518 0.05379414 -7.48643e-4 -0.9986248 0.05233561 -0.003130555 -0.9960927 0.05254954 -0.07097852 -0.9936592 0.05272394 -0.09930509 -0.9860319 0.05151593 -0.1583895 -0.9813258 0.05065071 -0.1855649 -0.9693349 0.05148309 -0.2402905 -0.9620113 0.05218422 -0.2679759 -0.9447321 0.05457729 -0.3232684 -0.9361739 0.0531705 -0.3474932 -0.9148299 0.05304265 -0.4003409 -0.9066523 0.05106383 -0.4187771 -0.8878991 0.05043512 -0.4572653 + + + + + + + + + + + + + + +

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0.0 0 0 ${pi} + + 0 0 0.02 0 0 0 + + + + + + model://mid360/meshes/mid360.dae + + + + + 0 0 0.02 0 0 0 + + + + + 1 + 10 + true + + + + 0 0 0.03 0 0 0 + true + true + ${update_rate} + + + + ${samples} + 1.0 + 0 + 6.28000020980835 + + + 128 + -0.12217304764 + 0.90757121104 + + + + 0.15 + 15.0 + + + + gaussian + 0.0 + 0.01 + + + + + + + + 0 0 0.2 0 0 0 + + + + + + + + + + + + + + + diff --git a/resource/models/rplidar_a2/meshes/rplidar_a2.dae b/resource/models/rplidar_a2/meshes/rplidar_a2.dae new file mode 100644 index 0000000..18c0c3a --- /dev/null +++ b/resource/models/rplidar_a2/meshes/rplidar_a2.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 2.90.0 commit date:2020-08-31, commit time:11:26, hash:0330d1af29c0 + + 2020-11-29T20:28:38 + 2020-11-29T20:28:38 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.02318535 0.02318535 0.02318535 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.6752384 0 0.8000001 1 + + + 1.45 + + + + + + + + + + + + + + + + + + + + -0.03295028 0.003244936 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6187 9418 5640 9418 5640 9419 6187 9419 5642 9419 5640 9420 5642 9420 5641 9420 5641 9421 5642 9421 5638 9421 5643 157 6247 157 5965 157 5965 9422 6247 9422 6248 9422 5658 9423 5661 9423 6248 9423 6248 9424 5661 9424 5644 9424 6248 9425 5644 9425 5965 9425 6231 157 5645 157 6233 157 6233 157 5645 157 5978 157 6233 157 5978 157 5646 157 5646 157 5978 157 5647 157 5646 157 5647 157 5648 157 5648 157 5647 157 5975 157 5648 9426 5975 9426 6236 9426 6236 9427 5975 9427 5973 9427 6236 157 5973 157 5650 157 5973 157 5649 157 5650 157 5650 157 5649 157 5651 157 5650 9428 5651 9428 5652 9428 5652 157 5651 157 5653 157 5652 9429 5653 9429 6239 9429 6239 157 5653 157 5971 157 6239 9430 5971 9430 6238 9430 6238 157 5971 157 5654 157 6238 9431 5654 9431 5655 9431 5655 9432 5654 9432 5656 9432 5655 157 5656 157 6245 157 6245 9433 5656 9433 5657 9433 6245 157 5657 157 6246 157 6246 9434 5657 9434 5659 9434 6246 157 5659 157 5658 157 5658 157 5659 157 5660 157 5658 157 5660 157 5661 157 5685 9435 5686 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5590 10403 6152 10403 6153 10404 6152 10404 6405 10404 6405 10405 6152 10405 5592 10405 6405 10406 5592 10406 6407 10406 6407 10407 5592 10407 6408 10407 6154 10408 6158 10408 5596 10408 5596 10409 6158 10409 6156 10409 5592 10410 5594 10410 6408 10410 6408 10411 5594 10411 5595 10411 6408 10412 5595 10412 6409 10412 6409 10413 5595 10413 5597 10413 6409 10414 5597 10414 6155 10414 6155 10415 5597 10415 5596 10415 6155 10416 5596 10416 6411 10416 6411 10417 5596 10417 6156 10417 5604 10418 6159 10418 5603 10418 5603 10419 6159 10419 6157 10419 6154 10420 5602 10420 6158 10420 6158 10421 5602 10421 5603 10421 6158 10422 5603 10422 6387 10422 6387 10423 5603 10423 6157 10423 5604 10424 5598 10424 6159 10424 6159 10425 5598 10425 6160 10425 6159 10426 6160 10426 6161 10426 6161 10427 6160 10427 6162 10427 6161 10428 6162 10428 6401 10428 6162 10429 5610 10429 6401 10429 6401 10430 5610 10430 6164 10430 6401 10431 6164 10431 6400 10431 6398 10432 6163 10432 5605 10432 5605 10433 6163 10433 6399 10433 5605 10434 6399 10434 6164 10434 6164 10435 6399 10435 6165 10435 6164 10436 6165 10436 6400 10436 6167 10437 6394 10437 5607 10437 5607 10438 6394 10438 6395 10438 5605 10439 5606 10439 6398 10439 6398 10440 5606 10440 5607 10440 6398 10441 5607 10441 6166 10441 6166 10442 5607 10442 6395 10442 6167 10443 6168 10443 6394 10443 6394 10444 6168 10444 6169 10444 6394 10445 6169 10445 6170 10445 6170 10446 6169 10446 6392 10446 6392 10447 6169 10447 6390 10447 6390 10448 6169 10448 5617 10448 6390 10449 5617 10449 6385 10449 6385 10450 5617 10450 6171 10450 6385 10451 6171 10451 5614 10451 6174 10452 6172 10452 6173 10452 6173 10453 6172 10453 5623 10453 6173 10454 5623 10454 6379 10454 6383 10455 5614 10455 6381 10455 6381 10456 5614 10456 5613 10456 6381 10457 5613 10457 6174 10457 6174 10458 5613 10458 5627 10458 6174 10459 5627 10459 6172 10459 5623 10460 6175 10460 6379 10460 6379 10461 6175 10461 5622 10461 6379 10462 5622 10462 6378 10462 6378 10463 5622 10463 6176 10463 6378 10464 6176 10464 6177 10464 6177 10465 6176 10465 6178 10465 6177 10466 6178 10466 6376 10466 6376 10467 6178 10467 6374 10467 6178 10468 5631 10468 6374 10468 6374 10469 5631 10469 6179 10469 6374 10470 6179 10470 6180 10470 6180 10471 6179 10471 6182 10471 6180 10472 6182 10472 6181 10472 6181 10473 6182 10473 5629 10473 6181 10474 5629 10474 6372 10474 6372 10475 5629 10475 6183 10475 6372 10476 6183 10476 6369 10476 6369 10477 6183 10477 6190 10477 6355 10478 6363 10478 6184 10478 6184 10479 6363 10479 6185 10479 6184 10480 6185 10480 6187 10480 6187 10481 6185 10481 6186 10481 6187 10482 6186 10482 5642 10482 5642 10483 6186 10483 6361 10483 5642 10484 6361 10484 6188 10484 6188 10485 6361 10485 6189 10485 6188 10486 6189 10486 5632 10486 5632 10487 6189 10487 6365 10487 5632 10488 6365 10488 5633 10488 5633 10489 6365 10489 6191 10489 5633 10490 6191 10490 6190 10490 6190 10491 6191 10491 6192 10491 6190 10492 6192 10492 6369 10492 6355 10493 6184 10493 6356 10493 6356 10494 6184 10494 5639 10494 6356 10495 5639 10495 6357 10495 6357 10496 5639 10496 6193 10496 6357 10497 6193 10497 6358 10497 6358 10498 6193 10498 6359 10498 6359 10499 6193 10499 5679 10499 6359 10500 5679 10500 6353 10500 6353 10501 5679 10501 5680 10501 6353 10502 5680 10502 6194 10502 6194 10503 5680 10503 6195 10503 6194 10504 6195 10504 6196 10504 6196 10505 6195 10505 6200 10505 6196 10506 6200 10506 6197 10506 6197 10507 6200 10507 6198 10507 6198 10508 6200 10508 6199 10508 6199 10509 6200 10509 6201 10509 6199 10510 6201 10510 6202 10510 6202 10511 6201 10511 5684 10511 6202 10512 5684 10512 6203 10512 6203 10513 5684 10513 5685 10513 6203 10514 5685 10514 6204 10514 6204 10515 5685 10515 6205 10515 6204 10516 6205 10516 6352 10516 6352 10517 6205 10517 5663 10517 6352 10518 5663 10518 6206 10518 6206 10519 5663 10519 6207 10519 6207 10520 5663 10520 5664 10520 6207 10521 5664 10521 6350 10521 6350 10522 5664 10522 5666 10522 6350 10523 5666 10523 6208 10523 6208 10524 5666 10524 6209 10524 6209 10525 5666 10525 6210 10525 6209 10526 6210 10526 6349 10526 6349 10527 6210 10527 5667 10527 6349 10528 5667 10528 6211 10528 6211 10529 5667 10529 6212 10529 6212 10530 5667 10530 6213 10530 6212 10531 6213 10531 6214 10531 6214 10532 6213 10532 6347 10532 6347 10533 6213 10533 5669 10533 6347 10534 5669 10534 6215 10534 6215 10535 5669 10535 5670 10535 6215 10536 5670 10536 6216 10536 6216 10537 5670 10537 6217 10537 6216 10538 6217 10538 6346 10538 6346 10539 6217 10539 6218 10539 6218 10540 6217 10540 6219 10540 6218 10541 6219 10541 6345 10541 6345 10542 6219 10542 6220 10542 6345 10543 6220 10543 6221 10543 6221 10544 6220 10544 6222 10544 6222 10545 6220 10545 6223 10545 6222 10546 6223 10546 6224 10546 6224 10547 6223 10547 6225 10547 6224 10548 6225 10548 5702 10548 5702 10549 6225 10549 5674 10549 5702 10550 5674 10550 5703 10550 5703 10551 5674 10551 6227 10551 6227 10552 5674 10552 6226 10552 6227 10553 6226 10553 5704 10553 5704 10554 6226 10554 6230 10554 5704 10555 6230 10555 6228 10555 6228 10556 6230 10556 6229 10556 6229 10557 6230 10557 6231 10557 6229 10558 6231 10558 5706 10558 5706 10559 6231 10559 5707 10559 5707 10560 6231 10560 6233 10560 5707 10561 6233 10561 6232 10561 6232 10562 6233 10562 6234 10562 6234 10563 6233 10563 5646 10563 6234 10564 5646 10564 6235 10564 6235 10565 5646 10565 5648 10565 6235 10566 5648 10566 5699 10566 6236 10567 6237 10567 5648 10567 5648 10568 6237 10568 5700 10568 5648 10569 5700 10569 5699 10569 5652 10570 6241 10570 5650 10570 5650 10571 6241 10571 5692 10571 5650 10572 5692 10572 6236 10572 6236 10573 5692 10573 5698 10573 6236 10574 5698 10574 6237 10574 6238 10575 5696 10575 6239 10575 6239 10576 5696 10576 5695 10576 6239 10577 5695 10577 5652 10577 5652 10578 5695 10578 6240 10578 5652 10579 6240 10579 6241 10579 5689 10580 6242 10580 6245 10580 6245 10581 6242 10581 6243 10581 6245 10582 6243 10582 5655 10582 5655 10583 6243 10583 5690 10583 5655 10584 5690 10584 6238 10584 6238 10585 5690 10585 6244 10585 6238 10586 6244 10586 5696 10586 5689 10587 6245 10587 5711 10587 5711 10588 6245 10588 6246 10588 5711 10589 6246 10589 5712 10589 5712 10590 6246 10590 5658 10590 5712 10591 5658 10591 5713 10591 5713 10592 5658 10592 6248 10592 5713 10593 6248 10593 6250 10593 6247 10594 5536 10594 6248 10594 6248 10595 5536 10595 6249 10595 6248 10596 6249 10596 6250 10596 6216 10743 6346 10743 6215 10743 6209 10754 6349 10754 6208 10754

+ + + + + + + + 1 0 0 0 0 1 0 1.33855e-8 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/resource/models/rplidar_a2/model.config b/resource/models/rplidar_a2/model.config new file mode 100644 index 0000000..ef0333c --- /dev/null +++ b/resource/models/rplidar_a2/model.config @@ -0,0 +1,15 @@ + + + rplidar_a2 + 1.0 + model.sdf + + + zhenpeng ge + zhenpeng.ge@qq.com + + + + rplidar_a2:http://www.slamtec.com/cn/Lidar/A2 + + \ No newline at end of file diff --git a/resource/models/rplidar_a2/model.sdf b/resource/models/rplidar_a2/model.sdf new file mode 100644 index 0000000..12614fa --- /dev/null +++ b/resource/models/rplidar_a2/model.sdf @@ -0,0 +1,102 @@ + + + + + + + + + + 0 0 0.2 0 0 0 + + + 0.4 + + 0.01066666666666667 + 0 + 0 + 0.01066666666666667 + 0 + 0.01066666666666667 + + + + + + 0.4 0.4 0.4 + + + + + + + 0.4 0.4 0.4 + + + + + + + 0 0 0.2 0 0 0 + base_link + simple_rplidar_a2 + + + 0 0 0 0 0 0 + + 0 0 0.02 0 0 0 + 0.005 + + 2.6666666666666664e-06 + 0 + 0 + 2.6666666666666664e-06 + 0 + 4.000000000000001e-06 + + + + + + model://rplidar_a2/meshes/rplidar_a2.dae + + + + + 0 0 0.02 0 0 0 + + + 0.04 + 0.04 + + + + + 0 0 0.03 0 0 0 + true + true + 10.0 + + + + 400.0 + 1.0 + 0 + 6.28000020980835 + + + + 0.15 + 12.0 + + + + gaussian + 0.0 + 0.01 + + + + + + diff --git a/resource/models/rplidar_a2/model.sdf.xmacro b/resource/models/rplidar_a2/model.sdf.xmacro new file mode 100644 index 0000000..5202c1a --- /dev/null +++ b/resource/models/rplidar_a2/model.sdf.xmacro @@ -0,0 +1,70 @@ + + + + + + ${pose} + ${parent} + ${prefix}rplidar_a2 + + + 0 0 0 0 0 0 + + 0 0 0.02 0 0 0 + + + + + + + 0 0 0.02 0 0 0 + + + + + front_rplidar_a2 + 0 0 0.03 0 0 0 + true + ${visualize} + ${update_rate} + + + + ${samples} + 1.0 + 0 + 6.28000020980835 + + + + 0.15 + 12.0 + + + + gaussian + 0.0 + 0.01 + + + + + + + 0 0 0.2 0 0 0 + + + + + + + + + + + + + + + diff --git a/resource/worlds/empty_world.sdf b/resource/worlds/empty_world.sdf new file mode 100644 index 0000000..a5aa41e --- /dev/null +++ b/resource/worlds/empty_world.sdf @@ -0,0 +1,66 @@ + + + + + + + + + + + + + ogre2 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.3 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + \ No newline at end of file diff --git a/resource/worlds/rmul24_world.sdf b/resource/worlds/rmul24_world.sdf new file mode 100644 index 0000000..ed255c3 --- /dev/null +++ b/resource/worlds/rmul24_world.sdf @@ -0,0 +1,190 @@ + + + + + + + + + + + + + + + + + + ogre + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + + model://RMUL_2024 + + 0.0 0.0 0 0 0 0 + true + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + + 7.35 3.79 9.2 0.0 1.57 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/default/control + /world/default/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/default/stats + + + + + + + Transform control + + + + + false + 250 + 50 + floating + false + #03a9f4 + + + + + + + + + + + false + 250 + 50 + floating + false + #03a9f4 + + + + + + + false + docked + + + + + + + false + docked + + + + + diff --git a/resource/xmacro/rmua19_standard_robot_a.sdf.xmacro b/resource/xmacro/rmua19_standard_robot_a.sdf.xmacro new file mode 100644 index 0000000..8b7d870 --- /dev/null +++ b/resource/xmacro/rmua19_standard_robot_a.sdf.xmacro @@ -0,0 +1,71 @@ + + + + + + + + + + + + 0 0 0.15 0 0 0 + + + + + + + + + color + armor_0/light_bar_visual + armor_1/light_bar_visual + armor_2/light_bar_visual + armor_3/light_bar_visual + light_indicator/light_bar_visual + speed_monitor/light_bar_visual + ${global_initial_color} + + + + gimbal_pitch_joint + gimbal_yaw_joint + + + + chassis + front_left_wheel_joint + front_right_wheel_joint + rear_left_wheel_joint + rear_right_wheel_joint + + + + gimbal_yaw_joint + false + 0.2 + 0.01 + + + gimbal_pitch_joint + false + 1 + 0.01 + + + + + speed_monitor + 0.15 0 0 0 0 0 + small_shooter + 20 + model://rm_projectile_17mm + + + \ No newline at end of file diff --git a/resource/xmacro/rmua19_standard_robot_b.sdf.xmacro b/resource/xmacro/rmua19_standard_robot_b.sdf.xmacro new file mode 100644 index 0000000..2a7a0ad --- /dev/null +++ b/resource/xmacro/rmua19_standard_robot_b.sdf.xmacro @@ -0,0 +1,71 @@ + + + + + + + + + + + + 0 0 0.15 0 0 0 + + + + + + + + + color + armor_0/light_bar_visual + armor_1/light_bar_visual + armor_2/light_bar_visual + armor_3/light_bar_visual + light_indicator/light_bar_visual + speed_monitor/light_bar_visual + ${global_initial_color} + + + + gimbal_pitch_joint + gimbal_yaw_joint + + + + chassis + front_left_wheel_joint + front_right_wheel_joint + rear_left_wheel_joint + rear_right_wheel_joint + + + + gimbal_yaw_joint + false + 0.2 + 0.01 + + + gimbal_pitch_joint + false + 1 + 0.01 + + + + + speed_monitor + 0.15 0 0 0 0 0 + small_shooter + 20 + model://rm_projectile_17mm + + + \ No newline at end of file diff --git a/resource/xmacro/rmul24_sentry_robot.sdf b/resource/xmacro/rmul24_sentry_robot.sdf new file mode 100644 index 0000000..f45ede4 --- /dev/null +++ b/resource/xmacro/rmul24_sentry_robot.sdf @@ -0,0 +1,1272 @@ + + + + + + + + + + + 0 0 0.15 0 0 0 + + + + 0 0 0.055 0 0 0 + 15.0 + + 0.093125 + 0 + 0 + 0.18312499999999998 + 0 + 0.23399999999999999 + + + + + + model://rmua19_standard_robot/meshes/chassis_base.dae + + + + + 0 0 0.045 0 0 0 + + + 0.36 0.24 0.13 + + + + + -0.122 0 0.177 0 0 0 + + + 0.1 0.18 0.146 + + + + + 0.208 0 0 0 0 0 + + + 0.055 0.367 0.055 + + + + + -0.208 0 0 0 0 0 + + + 0.055 0.367 0.055 + + + + + 1 + 200 + + + + + 0.207 0.194 0 0 0 0 + 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+ 20 + model://rm_projectile_17mm + + + + diff --git a/resource/xmacro/rmul24_sentry_robot.sdf.xmacro b/resource/xmacro/rmul24_sentry_robot.sdf.xmacro new file mode 100644 index 0000000..57e9cae --- /dev/null +++ b/resource/xmacro/rmul24_sentry_robot.sdf.xmacro @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + 0 0 0.15 0 0 0 + + + + + + + + + + + + + + + + + 50 + /odom + odom + chassis + /odom/tf + + + + + + + + + + color + armor_0/light_bar_visual + armor_1/light_bar_visual + armor_2/light_bar_visual + armor_3/light_bar_visual + light_indicator/light_bar_visual + speed_monitor/light_bar_visual + ${global_initial_color} + + + + + chassis + front_left_wheel_joint + front_right_wheel_joint + rear_left_wheel_joint + rear_right_wheel_joint + + + + + gimbal_yaw_joint + false + 0.2 + 0.01 + + + + gimbal_pitch_joint + false + 1 + 0.01 + + + + + speed_monitor + 0.15 0 0 0 0 0 + small_shooter + 20 + model://rm_projectile_17mm + + + \ No newline at end of file diff --git a/rviz/visualize.rviz b/rviz/visualize.rviz new file mode 100644 index 0000000..3646fb9 --- /dev/null +++ b/rviz/visualize.rviz @@ -0,0 +1,328 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 617 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + armor_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_support_frame_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_support_frame_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_support_frame_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + armor_support_frame_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_industrial_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_rplidar_a2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal_pitch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + light_indicator: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_mid360: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + speed_monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /red_standard_robot1/rplidar_a2/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /red_standard_robot1/livox/lidar + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: chassis + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.139169216156006 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.665398120880127 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6353981494903564 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1080 + X: 1772 + Y: 319