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https://github.com/6-robot/wpr_simulation.git
synced 2025-09-15 12:59:01 +08:00
update hector
This commit is contained in:
Robot
parent
0f5fde211a
commit
f88d5b381a
@ -4,7 +4,9 @@
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<include file="$(find wpr_simulation)/launch/wpb_stage_slam.launch"/>
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<!-- Hector SLAM -->
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<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"/>
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<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping">
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<param name="tf_map_scanmatch_transform_frame_name" value="base_footprint" />
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</node>
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<!-- Rviz 显示 -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find wpr_simulation)/rviz/slam.rviz"/>
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@ -3,15 +3,9 @@ Panels:
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Grid1
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- /LaserScan1
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- /Map1
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- /TF1
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Expanded: ~
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Splitter Ratio: 0.5
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Tree Height: 878
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Tree Height: 862
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@ -20,17 +14,18 @@ Panels:
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: LaserScan
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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@ -42,7 +37,7 @@ Visualization Manager:
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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@ -69,22 +64,20 @@ Visualization Manager:
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 999999
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Min Color: 0; 0; 0
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Min Intensity: -6.83680113e-37
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Name: LaserScan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.0299999993
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Size (m): 0.029999999329447746
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Style: Flat Squares
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Topic: /scan
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 0.699999988
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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@ -114,16 +107,51 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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base_top_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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body_back_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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body_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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front_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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kinect2_camera_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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kinect2_dock:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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kinect2_front_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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kinect2_head_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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kinect2_ir_optical_frame:
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Alpha: 1
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Show Axes: false
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@ -145,20 +173,6 @@ Visualization Manager:
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: false
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Frame Timeout: 15
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Frames:
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All Enabled: true
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Marker Scale: 0.5
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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{}
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Update Interval: 0
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Value: false
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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@ -174,7 +188,10 @@ Visualization Manager:
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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@ -184,25 +201,25 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 14.0163193
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Distance: 8.90985107421875
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: -0.629478931
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Y: -0.149214342
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Z: -1.89850044
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X: 0.9705339074134827
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Y: 0.17890144884586334
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Z: -1.1741498708724976
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 1.14479995
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Near Clip Distance: 0.009999999776482582
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Pitch: 1.1447999477386475
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 3.13039994
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Yaw: 3.1303999423980713
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Saved: ~
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Window Geometry:
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Displays:
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@ -210,7 +227,7 @@ Window Geometry:
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Height: 1167
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd000000040000000000000192000003fdfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003fd000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000072700000046fc0100000002fb0000000800540069006d00650100000000000007270000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000058f000003fd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd000000040000000000000192000003e9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003e9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000072700000046fc0100000002fb0000000800540069006d0065010000000000000727000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000058f000003e900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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