From ede110e71b93f112133561b2f1fcb854f199c46a Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Fri, 12 Aug 2016 17:11:16 +0200 Subject: [PATCH] Add launch files for running demos. (#23) This adds two launch files for running 2D and 3D demos. A bag filename is expected as an argument and is played back using simulation time while showing the result in a preconfigured RViz window. --- .../configuration_files/demo_2d.rviz | 197 +++++++++++++ .../configuration_files/demo_3d.rviz | 260 ++++++++++++++++++ cartographer_ros/launch/demo_2d.launch | 27 ++ cartographer_ros/launch/demo_3d.launch | 27 ++ .../src/cartographer_node_main.cc | 2 +- 5 files changed, 512 insertions(+), 1 deletion(-) create mode 100644 cartographer_ros/configuration_files/demo_2d.rviz create mode 100644 cartographer_ros/configuration_files/demo_3d.rviz create mode 100644 cartographer_ros/launch/demo_2d.launch create mode 100644 cartographer_ros/launch/demo_3d.launch diff --git a/cartographer_ros/configuration_files/demo_2d.rviz b/cartographer_ros/configuration_files/demo_2d.rviz new file mode 100644 index 0000000..596031c --- /dev/null +++ b/cartographer_ros/configuration_files/demo_2d.rviz @@ -0,0 +1,197 @@ +# Copyright 2016 The Cartographer Authors +# +# 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. + +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Submaps1 + Splitter Ratio: 0.600671 + Tree Height: 817 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + horizontal_laser_link: + Value: true + imu_link: + Value: true + map: + Value: true + odom: + Value: true + vertical_laser_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + horizontal_laser_link: + {} + imu_link: + {} + vertical_laser_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + horizontal_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: Submaps + Enabled: true + Map frame: map + Name: Submaps + Submap query service: /cartographer/submap_query + Topic: /cartographer/submap_list + Tracking frame: base_link + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 100; 100; 100 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 10 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1123 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1918 + X: 0 + Y: 24 diff --git a/cartographer_ros/configuration_files/demo_3d.rviz b/cartographer_ros/configuration_files/demo_3d.rviz new file mode 100644 index 0000000..0f84c32 --- /dev/null +++ b/cartographer_ros/configuration_files/demo_3d.rviz @@ -0,0 +1,260 @@ +# Copyright 2016 The Cartographer Authors +# +# 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. + +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /PointCloud21 + - /PointCloud22 + - /Submaps1 + Splitter Ratio: 0.600671 + Tree Height: 817 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + horizontal_vlp16_link: + Value: true + imu_link: + Value: true + map: + Value: true + odom: + Value: true + vertical_vlp16_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + horizontal_vlp16_link: + {} + imu_link: + {} + vertical_vlp16_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + horizontal_vlp16_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_vlp16_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 7.6265 + Min Value: 5.66667 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 20; 220; 20 + Color Transformer: FlatColor + Decay Time: 0.1 + 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: XYZ + Queue Size: 20 + Selectable: true + Size (Pixels): 3 + Size (m): 0.03 + Style: Flat Squares + Topic: /horizontal_laser_3d + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5.6087 + Min Value: 3.77875 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 240; 220; 20 + Color Transformer: FlatColor + Decay Time: 0.1 + Enabled: true + Invert Rainbow: true + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 20 + Selectable: true + Size (Pixels): 3 + Size (m): 0.03 + Style: Flat Squares + Topic: /vertical_laser_3d + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: Submaps + Enabled: true + Map frame: map + Name: Submaps + Submap query service: /cartographer/submap_query + Topic: /cartographer/submap_list + Tracking frame: base_link + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 100; 100; 100 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 10 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1123 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1918 + X: 0 + Y: 24 diff --git a/cartographer_ros/launch/demo_2d.launch b/cartographer_ros/launch/demo_2d.launch new file mode 100644 index 0000000..5202e10 --- /dev/null +++ b/cartographer_ros/launch/demo_2d.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + diff --git a/cartographer_ros/launch/demo_3d.launch b/cartographer_ros/launch/demo_3d.launch new file mode 100644 index 0000000..47a635a --- /dev/null +++ b/cartographer_ros/launch/demo_3d.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + diff --git a/cartographer_ros/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc index be8f6da..3ad0d6c 100644 --- a/cartographer_ros/src/cartographer_node_main.cc +++ b/cartographer_ros/src/cartographer_node_main.cc @@ -78,7 +78,7 @@ constexpr int64 kTrajectoryId = 0; constexpr int kSubscriberQueueSize = 150; constexpr int kSubmapPublishPeriodInUts = 300 * 10000ll; // 300 milliseconds constexpr int kPosePublishPeriodInUts = 5 * 10000ll; // 5 milliseconds -constexpr double kMaxTransformDelaySeconds = 1.; +constexpr double kMaxTransformDelaySeconds = 0.01; Rigid3d ToRigid3d(const geometry_msgs::TransformStamped& transform) { return Rigid3d(Eigen::Vector3d(transform.transform.translation.x,