Verified that it can be compiled and run
This commit is contained in:
parent
42b4a22524
commit
fd9246f53d
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@ -0,0 +1 @@
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# This file currently only serves to mark the location of a catkin workspace for tool integration
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@ -18,6 +18,52 @@
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将/src/vins-fusion/utils/odom_visualization目录拷贝至本地进行编译,然后在配置好多机ROS相关IP的情况下,在本地启动`roslaunch odom_visualization vins_vis.launch`
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## 依赖
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### Mavlink
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此工程中包括mavros,但对其中一个文件vision_pose_estimate.cpp做了修改,编译此工程即可提供mavros相关功能。
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直接源码编译安装mavros可能会出现与mavlink相关的依赖问题,可以先直接二进制安装mavros,让其自动解决相关依赖问题,再编译此工程,在编译完成后source此工程devel目录下的setup.bash,通过环境变量的改变,使得运行roslaunch mavros时启动的是此工程中的mavros而非二进制安装的原版。
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二进制安装mavros参见:https://blog.csdn.net/weixin_42301220/article/details/117845212
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### Ceres
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参见:
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https://zhuanlan.zhihu.com/p/460685629
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### Boost_python3
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参见:
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https://blog.csdn.net/zsf10220208/article/details/102571611#:~:text=%281%29%20%E5%8E%BBboost%E5%AE%98%E7%BD%91%20https%3A%2F%2Fwww.boost.org%2F%20%E4%B8%8B%E8%BD%BD%E8%BE%83%E6%96%B0%E7%89%88%E6%9C%AC%E7%9A%84boost%2C%E5%A6%82boost_1_71_0.zip.%20%282%29%20%E8%A7%A3%E5%8E%8B%3A%20unzip%20boost_1_71_0.zip,sudo.%2Fb2%20install%20%28d%29%20sudo%20ldconfig%20%284%29%20%E7%BC%96%E8%AF%91%E6%88%90%E5%8A%9F%E5%90%8E%E5%8F%AF%E4%BB%A5%E5%9C%A8%E9%BB%98%E8%AE%A4%E7%BC%96%E8%AF%91%E8%B7%AF%E5%BE%84%2Fusr%2Flocal%2Flib%E4%B8%8B%E6%89%BE%E5%88%B0%E7%9B%B8%E5%85%B3%E7%9A%84libboost%2A.so%2C%20boost%E5%9C%A8%2Fusr%2Flocal%2Finclude%2Fboost.
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https://boostorg.jfrog.io/artifactory/main/release/1.71.0/source/
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### OpenCV 3.4
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https://github.com/opencv/opencv/tree/3.4
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下载源码,解压之后进入目录,新建build目录,在build目录下执行
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```
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cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local/opencv34 -DWITH_LIBV4L=ON -DWITH_CUDA=OFF -DWITH_TBB=ON -DWITH_OPENMP=ON -DWITH_OPENGL=ON
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make -j8
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sudo make install
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```
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### RealsenseSDK
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https://github.com/IntelRealSense/librealsense/releases
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下载源码,解压之后进入目录,新建build目录,在build目录下执行
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```
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j8
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sudo make install
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```
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## 编译
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在blimp-autopilot下执行`catkin_make -DCMAKE_BUILD_TYPE=Release`即可执行编译
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@ -2,7 +2,7 @@
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source ../devel/setup.bash
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roslaunch realsense2_camera rs_camera.launch & sleep 6;
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# roslaunch realsense2_camera rs_camera.launch & sleep 6;
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rosrun vins vins_node ../src/vins-fusion/realflight_modules/VINS-Fusion/config/px4/stereo_imu_config_d435f.yaml & sleep 5;
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rosrun loop_fusion loop_fusion_node ../src/vins-fusion/realflight_modules/VINS-Fusion/config/px4/stereo_imu_config_d435f.yaml & sleep 1;
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@ -56,20 +56,20 @@
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl/PointIndices.h>
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//#include <pcl_msgs/PointIndices.h>
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#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PointIndices.h"
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#include <pcl_msgs/PointIndices.h>
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// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PointIndices.h"
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#include <pcl/ModelCoefficients.h>
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//#include <pcl_msgs/ModelCoefficients.h>
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#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/ModelCoefficients.h"
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#include <pcl_msgs/ModelCoefficients.h>
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// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/ModelCoefficients.h"
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#include <pcl/Vertices.h>
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//#include <pcl_msgs/Vertices.h>
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#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/Vertices.h"
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#include <pcl_msgs/Vertices.h>
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// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/Vertices.h"
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#include <pcl/PolygonMesh.h>
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//#include <pcl_msgs/PolygonMesh.h>
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#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PolygonMesh.h"
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#include <pcl_msgs/PolygonMesh.h>
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// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PolygonMesh.h"
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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//#include <pcl_conversions/pcl_conversions.h>
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#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
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#include <pcl_conversions/pcl_conversions.h>
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// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
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#include <pcl/io/pcd_io.h>
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#include <message_filters/subscriber.h>
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@ -6,8 +6,8 @@
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#include <ros/ros.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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//#include <pcl_conversions/pcl_conversions.h>
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#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
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#include <pcl_conversions/pcl_conversions.h>
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// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
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#include <global_planner/global_map.h>
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#include <global_planner/raycast.h>
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#include <visualization_msgs/Marker.h>
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@ -15,8 +15,8 @@
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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//#include <pcl_conversions/pcl_conversions.h>
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#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
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#include <pcl_conversions/pcl_conversions.h>
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// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h"
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#include <message_filters/subscriber.h>
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#include <message_filters/sync_policies/approximate_time.h>
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@ -26,7 +26,7 @@ find_package(Ceres REQUIRED)
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set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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find_package(Eigen3)
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include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} /root/blimp-autopilot-master/src/realflight_modules/VINS-Fusion-gpu/vins_estimator/src/estimator)
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include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
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catkin_package()
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@ -3,13 +3,16 @@ project(cv_bridge)
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find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
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if(NOT ANDROID)
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find_package(PythonLibs)
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if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
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find_package(Boost REQUIRED python)
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else()
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find_package(Boost REQUIRED python3)
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endif()
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find_package(Boost REQUIRED python)
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# if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
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# find_package(Boost REQUIRED python)
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# else()
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# find_package(Boost REQUIRED python3)
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# endif()
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else()
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find_package(Boost REQUIRED)
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endif()
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Panels:
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- Class: rviz/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /map inflate1
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- /Planning1/drone_path1
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- /Odometry1/Shape1
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- /drone1
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Splitter Ratio: 0.43611112236976624
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Tree Height: 1606
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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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Expanded:
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- /2D Pose Estimate1
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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: 0.5886790156364441
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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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Name: Time
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SyncMode: 0
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SyncSource: map inflate
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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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Class: ""
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Displays:
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- Alpha: 1
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Class: rviz/Axes
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Enabled: true
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Length: 1
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Name: Axes
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Radius: 0.05000000074505806
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Reference Frame: <Fixed Frame>
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Show Trail: false
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Value: true
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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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: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 1000
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.875
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Min Value: 0.11500000208616257
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 29; 108; 212
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Color Transformer: AxisColor
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Decay Time: 3
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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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Min Color: 0; 0; 0
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Name: map inflate
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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): 0.23000000417232513
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Style: Boxes
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Topic: /drone_0_ego_planner_node/grid_map/occupancy_inflate
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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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- Class: rviz/Group
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Displays:
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /drone_0_ego_planner_node/goal_point
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Name: goal_point
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /drone_0_ego_planner_node/global_list
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Name: global_path
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Namespaces:
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"": true
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Queue Size: 100
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /drone_0_ego_planner_node/optimal_list
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Name: optimal_traj
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Namespaces:
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"": true
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Queue Size: 100
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Value: true
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- Class: rviz/Marker
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Enabled: false
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Marker Topic: /drone_0_ego_planner_node/failed_list
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Name: FailedList
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Namespaces:
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{}
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Queue Size: 100
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Value: false
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- Class: rviz/Marker
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Enabled: false
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Marker Topic: /ego_planner_node/a_star_list
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||||
Name: AStar
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Namespaces:
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{}
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Queue Size: 100
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||||
Value: false
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- Class: rviz/Marker
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||||
Enabled: true
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||||
Marker Topic: /drone_0_ego_planner_node/init_list
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||||
Name: InitTraj
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||||
Namespaces:
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||||
"": true
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||||
Queue Size: 100
|
||||
Value: true
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||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 29; 108; 212
|
||||
Enabled: false
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Billboards
|
||||
Line Width: 0.019999999552965164
|
||||
Name: drone_path
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||||
Offset:
|
||||
X: 0
|
||||
Y: 0
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||||
Z: 0
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||||
Pose Color: 255; 85; 255
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||||
Pose Style: None
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||||
Queue Size: 10
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||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /vins_estimator/path
|
||||
Unreliable: false
|
||||
Value: false
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||||
Enabled: true
|
||||
Name: Planning
|
||||
- Angle Tolerance: 0.10000000149011612
|
||||
Class: rviz/Odometry
|
||||
Covariance:
|
||||
Orientation:
|
||||
Alpha: 0.5
|
||||
Color: 255; 255; 127
|
||||
Color Style: Unique
|
||||
Frame: Local
|
||||
Offset: 1
|
||||
Scale: 1
|
||||
Value: true
|
||||
Position:
|
||||
Alpha: 0.30000001192092896
|
||||
Color: 204; 51; 204
|
||||
Scale: 1
|
||||
Value: true
|
||||
Value: true
|
||||
Enabled: false
|
||||
Keep: 1
|
||||
Name: Odometry
|
||||
Position Tolerance: 0.10000000149011612
|
||||
Queue Size: 10
|
||||
Shape:
|
||||
Alpha: 1
|
||||
Axes Length: 0.5
|
||||
Axes Radius: 0.10000000149011612
|
||||
Color: 255; 25; 0
|
||||
Head Length: 0.30000001192092896
|
||||
Head Radius: 0.10000000149011612
|
||||
Shaft Length: 1
|
||||
Shaft Radius: 0.05000000074505806
|
||||
Value: Axes
|
||||
Topic: /vins_estimator/odometry
|
||||
Unreliable: false
|
||||
Value: false
|
||||
- Class: rviz/Marker
|
||||
Enabled: true
|
||||
Marker Topic: /odom_visualization/robot
|
||||
Name: drone
|
||||
Namespaces:
|
||||
mesh: true
|
||||
Queue Size: 100
|
||||
Value: true
|
||||
- Class: rviz/Marker
|
||||
Enabled: true
|
||||
Marker Topic: /drone_0_traj_server/yaw_direction
|
||||
Name: des_yaw
|
||||
Namespaces:
|
||||
"": true
|
||||
Queue Size: 1
|
||||
Value: true
|
||||
- Class: rviz/Marker
|
||||
Enabled: false
|
||||
Marker Topic: /visualization/applied_trajectory
|
||||
Name: land_traj
|
||||
Namespaces:
|
||||
{}
|
||||
Queue Size: 100
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 25; 255; 0
|
||||
Enabled: false
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Lines
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Path
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Queue Size: 10
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /mavros/setpoint_raw/local
|
||||
Unreliable: false
|
||||
Value: false
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 255; 255; 255
|
||||
Default Light: true
|
||||
Fixed Frame: world
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
- Class: rviz_plugins/Goal3DTool
|
||||
Topic: goal
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 6.624379634857178
|
||||
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: 1.7512515783309937
|
||||
Y: 1.7239826917648315
|
||||
Z: 1.7014034986495972
|
||||
Focal Shape Fixed Size: false
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5147976875305176
|
||||
Target Frame: my_view
|
||||
Yaw: 2.367333173751831
|
||||
Saved:
|
||||
- Class: rviz/FPS
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Invert Z Axis: false
|
||||
Name: FPS
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.4000000059604645
|
||||
Position:
|
||||
X: -11
|
||||
Y: 0
|
||||
Z: 8
|
||||
Roll: 0
|
||||
Target Frame: my_view
|
||||
Yaw: 0
|
||||
- Class: rviz/FPS
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Invert Z Axis: false
|
||||
Name: FPS
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5
|
||||
Position:
|
||||
X: -10
|
||||
Y: 0
|
||||
Z: 10
|
||||
Roll: 0
|
||||
Target Frame: my_view
|
||||
Yaw: 0
|
||||
- Class: rviz/FPS
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Invert Z Axis: false
|
||||
Name: FPS
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.6000000238418579
|
||||
Position:
|
||||
X: -10
|
||||
Y: 0
|
||||
Z: 10
|
||||
Roll: 0
|
||||
Target Frame: my_view
|
||||
Yaw: 0
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1872
|
||||
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: 2856
|
||||
X: 144
|
||||
Y: 54
|
|
@ -1,7 +1,6 @@
|
|||
<launch>
|
||||
<node pkg="odom_visualization" name="odom_visualization" type="odom_visualization" output="screen">
|
||||
<!-- <remap from="~odom" to="/fusion_odom"/> -->
|
||||
<remap from="~odom" to="/vins_estimator/imu_propagate" />
|
||||
<remap from="~odom" to="/loop_fusion/odometry_rect" />
|
||||
|
||||
<param name="color/a" value="1.0"/>
|
||||
<param name="color/r" value="0.0"/>
|
||||
|
@ -11,4 +10,6 @@
|
|||
<param name="robot_scale" value="1.0"/>
|
||||
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find odom_visualization)/launch/default.rviz" required="true" />
|
||||
</launch>
|
||||
|
|
Loading…
Reference in New Issue