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RAL version of mgg planner.
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@vivek-shankar
vivek-shankar committed Oct 9, 2024
1 parent 0891646 commit e024ddc
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Showing 23 changed files with 3,345 additions and 154 deletions.
871 changes: 871 additions & 0 deletions gbplanner/config/rviz/robot_bag.rviz
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238 changes: 213 additions & 25 deletions gbplanner/config/rviz/smbR1.rviz
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Original file line number Diff line number Diff line change
@@ -1,13 +1,21 @@
Panels:
- Class: rviz/Displays
Help Height: 0
Help Height: 162
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /PlannerViz1
- /PlannerViz1/ShortestPaths1
- /PlannerViz1/ShortestPaths1/Namespaces1
- /Voxblox1
- /Voxblox1/SurfacePCL1
- /PointCloud21
- /PointCloud22
- /PointCloud23
- /PointCloud24
Splitter Ratio: 0.5529412031173706
Tree Height: 844
Tree Height: 138
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand All @@ -25,7 +33,7 @@ Panels:
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: ""
SyncSource: SurfacePCL
- Class: gbplanner_ui/GbPlanner Control
Name: GbPlanner Control
Preferences:
Expand Down Expand Up @@ -78,7 +86,7 @@ Visualization Manager:
Length: 3
Name: BaseLink
Radius: 0.20000000298023224
Reference Frame: base_link
Reference Frame: R1/base_link
Show Trail: false
Value: true
- Alpha: 1
Expand Down Expand Up @@ -202,13 +210,13 @@ Visualization Manager:
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: false
Enabled: true
Marker Topic: /R1/vis/planning_graph
Name: PlanningGraph
Namespaces:
{}
Queue Size: 100
Value: false
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /R1/vis/sampler
Expand Down Expand Up @@ -353,13 +361,13 @@ Visualization Manager:
Unreliable: false
Value: false
- Class: rviz/MarkerArray
Enabled: true
Enabled: false
Marker Topic: /R1/gbplanner_node/occupied_nodes
Name: Occupied
Namespaces:
occupied_voxels: true
{}
Queue Size: 100
Value: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Expand Down Expand Up @@ -391,16 +399,16 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.700000047683716
Min Value: 0.10000000149011612
Max Value: 22.30000114440918
Min Value: -1.7000000476837158
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Expand All @@ -415,7 +423,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Value: true
Enabled: true
Name: Voxblox
- Class: rviz/MarkerArray
Expand Down Expand Up @@ -497,6 +505,11 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
R1/third_person:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
R1/velodyne:
Alpha: 1
Show Axes: false
Expand All @@ -513,11 +526,186 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 22.30000114440918
Min Value: -2.700000286102295
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /explored_areas
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /trajectory
Unreliable: false
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/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /free_paths
Unreliable: false
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/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /stacked_scans
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: PointStamped
Queue Size: 10
Radius: 0.20000000298023224
Topic: /R1/way_point
Unreliable: false
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/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /R1/free_paths
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /R1/R1/third_person/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /R1/R1/third_person/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: R1/world
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
Expand All @@ -541,37 +729,37 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 14.907958984375
Distance: 53.786659240722656
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 2.1459813117980957
Y: 0.056428588926792145
Z: 0.5780125856399536
X: 9.640109062194824
Y: 1.0534356832504272
Z: -5.455195903778076
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5497976541519165
Target Frame: base_link
Yaw: 3.305413007736206
Pitch: 1.5297964811325073
Target Frame: R1/base_link
Yaw: 1.90724515914917
Saved: ~
Window Geometry:
Displays:
collapsed: false
GbPlanner Control:
collapsed: false
Height: 2272
Height: 1132
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000002cb000007dafc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000003ba0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000190000002310000002600fffffffb0000000c00430061006d00650072006100000003affffffff60000000000000000fb0000000a0049006d00610067006501000002dc000000c90000000000000000fb00000022004700620050006c0061006e006e0065007200200043006f006e00740072006f006c010000043400000414000001a600ffffff00000001000001140000035dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035d0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e500000005efc0100000002fb0000000800540069006d0065010000000000000e50000006dc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000b79000007da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000002cb00000366fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000019a0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000190000002310000002600fffffffb0000000c00430061006d00650072006100000003affffffff60000000000000000fb0000000a0049006d00610067006501000002dc000000c90000000000000000fb00000022004700620050006c0061006e006e0065007200200043006f006e00740072006f006c0100000214000001c0000001a600fffffffb0000000a0049006d00610067006502000001a8000005ac000002cb00000028fb0000000a0049006d0061006700650300000417000004c600000a2e0000049a00000001000001140000035dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035d0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000099d0000005efc0100000002fb0000000800540069006d006501000000000000099d000006dc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006c60000036600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -580,6 +768,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 3664
X: 0
Width: 2461
X: 1203
Y: 54
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