Commit 042d8da5 authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

changed launch files for visualization of calibration

parent 2ca0d9e7
...@@ -6,6 +6,7 @@ ...@@ -6,6 +6,7 @@
<arg name="output_points_topic" default="/$(arg robot_prefix)/sensors/velodyne_points_unwarped" /> <arg name="output_points_topic" default="/$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
<arg name="link" default="$(arg robot_prefix)/velodyne_link" /> <arg name="link" default="$(arg robot_prefix)/velodyne_link" />
<arg name="sensor_offset_topic" default="/sensor_default" /> <arg name="sensor_offset_topic" default="/sensor_default" />
<arg name="min_range" default="1.3" />
<!-- Run monte carlo localization --> <!-- Run monte carlo localization -->
<!--include file="$(find ndt_calibration)/launch/visualize.launch" /--> <!--include file="$(find ndt_calibration)/launch/visualize.launch" /-->
...@@ -25,6 +26,9 @@ ...@@ -25,6 +26,9 @@
<param name="odom_parent_link" value="$(arg robot_prefix)/odom" /> <param name="odom_parent_link" value="$(arg robot_prefix)/odom" />
<param name="odom_link" value="$(arg robot_prefix)/base_footprint" /> <param name="odom_link" value="$(arg robot_prefix)/base_footprint" />
<param name="min_range" value="$(arg min_range)" />
<param name="max_range" value="130.0" />
<!-- pass path to graph_map (.map)--> <!-- pass path to graph_map (.map)-->
<param name="sensor_pose_x" value="0.808" /> <param name="sensor_pose_x" value="0.808" />
<param name="sensor_pose_y" value="-0.03" /> <param name="sensor_pose_y" value="-0.03" />
......
...@@ -60,7 +60,7 @@ ...@@ -60,7 +60,7 @@
<!--range of sensor, min range can prevent self-mapping of the robot or operator of the lidar, max range can remove uncertain measurments --> <!--range of sensor, min range can prevent self-mapping of the robot or operator of the lidar, max range can remove uncertain measurments -->
<param name="max_range" value="130." /> <param name="max_range" value="130." />
<param name="min_range" value="1.8" /> <param name="min_range" value="2.5" />
<!-- Specific sensor offset parameters with respect to the odometry frame --> <!-- Specific sensor offset parameters with respect to the odometry frame -->
......
...@@ -7,6 +7,7 @@ Panels: ...@@ -7,6 +7,7 @@ Panels:
- /Global Options1 - /Global Options1
- /Status1 - /Status1
- /Grid1 - /Grid1
- /TF1
- /TF1/Frames1 - /TF1/Frames1
- /TF1/Tree1 - /TF1/Tree1
- /PointCloud21 - /PointCloud21
...@@ -17,7 +18,7 @@ Panels: ...@@ -17,7 +18,7 @@ Panels:
- /NDT1 - /NDT1
- /Map1 - /Map1
Splitter Ratio: 0.656934321 Splitter Ratio: 0.656934321
Tree Height: 815 Tree Height: 790
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
...@@ -139,13 +140,13 @@ Visualization Manager: ...@@ -139,13 +140,13 @@ Visualization Manager:
robot5/steer_link: robot5/steer_link:
Value: false Value: false
robot5/velodyne: robot5/velodyne:
Value: true Value: false
robot5/velodyne_base_link: robot5/velodyne_base_link:
Value: false Value: false
robot5/velodyne_link: robot5/velodyne_link:
Value: false Value: false
submap_node0: submap_node0:
Value: true Value: false
velodyne: velodyne:
Value: false Value: false
world: world:
...@@ -221,11 +222,11 @@ Visualization Manager: ...@@ -221,11 +222,11 @@ Visualization Manager:
{} {}
Queue Size: 100 Queue Size: 100
Value: false Value: false
- Alpha: 0.0799999982 - Alpha: 0.0500000007
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
Max Value: 5.53900051 Max Value: 6
Min Value: -1 Min Value: -0.800000012
Value: false Value: false
Axis: Z Axis: Z
Channel Name: intensity Channel Name: intensity
...@@ -353,25 +354,25 @@ Visualization Manager: ...@@ -353,25 +354,25 @@ Visualization Manager:
Topic: /graph_node/ndt_pose_est Topic: /graph_node/ndt_pose_est
Unreliable: false Unreliable: false
Value: true Value: true
- Alpha: 1 - Alpha: 0.200000003
Class: ndt_rviz/NDT Class: ndt_rviz/NDT
Color: 0; 255; 255 Color: 0; 255; 255
Enabled: true Enabled: false
History Length: 1 History Length: 1
Name: NDT Name: NDT
Topic: /graph_node/NDTOmMap Topic: /graph_node/NDTOmMap
Unreliable: false Unreliable: false
Value: true Value: false
- Alpha: 0 - Alpha: 0.100000001
Class: rviz/Map Class: rviz/Map
Color Scheme: map Color Scheme: map
Draw Behind: true Draw Behind: true
Enabled: true Enabled: false
Name: Map Name: Map
Topic: /projected_map Topic: /projected_map
Unreliable: false Unreliable: false
Use Timestamp: false Use Timestamp: false
Value: true Value: false
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 43; 43; 43 Background Color: 43; 43; 43
...@@ -397,25 +398,25 @@ Visualization Manager: ...@@ -397,25 +398,25 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/ThirdPersonFollower Class: rviz/ThirdPersonFollower
Distance: 19.2112579 Distance: 22.6017017
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 1.23219562 X: 2.11633563
Y: 5.02408934 Y: 9.77573204
Z: -8.11231439e-06 Z: 8.46632247e-07
Focal Shape Fixed Size: false Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.0500000007
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.00999999978
Pitch: 0.655398607 Pitch: 0.794796705
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz) Value: ThirdPersonFollower (rviz)
Yaw: 0.160396218 Yaw: 0.0922134817
Saved: Saved:
- Class: rviz/Orbit - Class: rviz/Orbit
Distance: 39.1665726 Distance: 39.1665726
...@@ -443,7 +444,7 @@ Window Geometry: ...@@ -443,7 +444,7 @@ Window Geometry:
Height: 1028 Height: 1028
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001aa000003befc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003be000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000003d3000000160000000000000000000000010000010f000003befc0200000003fb0000000a005600690065007700730100000028000003be000000ad00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000064f000000b0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000047a000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000400000000000001aa000003a5fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003a5000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000003d3000000160000000000000000000000010000010f000003a5fc0200000003fb0000000a005600690065007700730100000041000003a5000000ad00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000064f000000b0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000047a000003a500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
......
...@@ -5,12 +5,13 @@ Panels: ...@@ -5,12 +5,13 @@ Panels:
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Grid1
- /MarkerArray1/Namespaces1 - /MarkerArray1/Namespaces1
- /TF1/Frames1 - /TF1/Frames1
- /TF1/Tree1 - /TF1/Tree1
- /PointCloud23 - /PointCloud23
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 775 Tree Height: 359
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
...@@ -33,7 +34,7 @@ Panels: ...@@ -33,7 +34,7 @@ Panels:
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
- Alpha: 0.5 - Alpha: 0.100000001
Cell Size: 1 Cell Size: 1
Class: rviz/Grid Class: rviz/Grid
Color: 160; 160; 164 Color: 160; 160; 164
...@@ -48,7 +49,7 @@ Visualization Manager: ...@@ -48,7 +49,7 @@ Visualization Manager:
Y: 0 Y: 0
Z: 0 Z: 0
Plane: XY Plane: XY
Plane Cell Count: 10 Plane Cell Count: 100
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Class: rviz/MarkerArray - Class: rviz/MarkerArray
...@@ -309,25 +310,25 @@ Visualization Manager: ...@@ -309,25 +310,25 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/ThirdPersonFollower Class: rviz/ThirdPersonFollower
Distance: 36.644062 Distance: 31.7807217
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0 X: 3.00740576
Y: 0 Y: 2.51129961
Z: 0 Z: 5.7220459e-06
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.0500000007
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.00999999978
Pitch: 1.45039737 Pitch: 1.32539749
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz) Value: ThirdPersonFollower (rviz)
Yaw: 4.99357796 Yaw: 5.6985693
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
...@@ -335,7 +336,7 @@ Window Geometry: ...@@ -335,7 +336,7 @@ Window Geometry:
Height: 1056 Height: 1056
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000002b400000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003700000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000400000000000002b40000037dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000410000037d000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000410000037d000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000062a0000037d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
......
...@@ -7,6 +7,7 @@ ...@@ -7,6 +7,7 @@
<arg name="root_link" default="/world"/> <arg name="root_link" default="/world"/>
<arg name="velodyne_points_topic" default="$(arg robot_prefix)/sensors/velodyne_compensated_points"/> <arg name="velodyne_points_topic" default="$(arg robot_prefix)/sensors/velodyne_compensated_points"/>
<arg name="sensor_offset_topic" default="/calibrated_sensor_offset"/> <arg name="sensor_offset_topic" default="/calibrated_sensor_offset"/>
<!--node pkg="rosbag" type="play" name="player" output="screen" args=" --> <!--clock $(find ndt_offline)/bag/volvo_2017_12_01/mapping/S7.bag -r10"/--> <!--node pkg="rosbag" type="play" name="player" output="screen" args=" --> <!--clock $(find ndt_offline)/bag/volvo_2017_12_01/mapping/S7.bag -r10"/-->
<include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" > <include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
...@@ -15,6 +16,7 @@ ...@@ -15,6 +16,7 @@
<arg name="output_points_topic" value="$(arg velodyne_points_topic)" /> <arg name="output_points_topic" value="$(arg velodyne_points_topic)" />
<arg name="link" default="$(arg robot_prefix)/calibrated_velodyne_link" /> <arg name="link" default="$(arg robot_prefix)/calibrated_velodyne_link" />
<arg name="sensor_offset_topic" default="$(arg sensor_offset_topic)" /> <arg name="sensor_offset_topic" default="$(arg sensor_offset_topic)" />
<arg name="min_range" default="2.5"/>
</include> </include>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ndt_calibration)/launch/calib.rviz" /> <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ndt_calibration)/launch/calib.rviz" />
...@@ -33,7 +35,7 @@ ...@@ -33,7 +35,7 @@
<param name="resolution" value="0.65"/> <param name="resolution" value="0.65"/>
<param name="min_nb_calibration_pairs" value="20" /> <param name="min_nb_calibration_pairs" value="20" />
<param name="max_nb_calibration_pairs" value="30"/> <param name="max_nb_calibration_pairs" value="30"/>
<param name="min_laser_range" value="2"/> <param name="min_laser_range" value="2.5"/>
<param name="score_type" value="3"/> <param name="score_type" value="3"/>
<param name="min_rotation" value="0.2"/> <param name="min_rotation" value="0.2"/>
......
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