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P2-1 Detectorta

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Safak Hazinedar
2025-11-30 21:41:32 +01:00
parent 660e951525
commit 3899ce16be
26 changed files with 1434 additions and 0 deletions
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Odometry1
- /LaserScan1/Topic1
- /GripperCam1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 836
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
A:
Value: true
All Enabled: true
B:
Value: true
C:
Value: true
Image1:
Value: true
Image2:
Value: true
Image3:
Value: true
P:
Value: true
PlaceBox:
Value: true
SpotArm:
Value: true
T1:
Value: true
T2:
Value: true
T3:
Value: true
Velodyne_Puck:
Value: true
accelerometer:
Value: true
base_footprint:
Value: true
base_link:
Value: true
cap screw:
Value: true
cap screw(1):
Value: true
cap screw(10):
Value: true
cap screw(11):
Value: true
cap screw(12):
Value: true
cap screw(13):
Value: true
cap screw(14):
Value: true
cap screw(15):
Value: true
cap screw(16):
Value: true
cap screw(17):
Value: true
cap screw(18):
Value: true
cap screw(19):
Value: true
cap screw(2):
Value: true
cap screw(3):
Value: true
cap screw(4):
Value: true
cap screw(5):
Value: true
cap screw(6):
Value: true
cap screw(7):
Value: true
cap screw(8):
Value: true
cap screw(9):
Value: true
front:
Value: true
front left forearm:
Value: true
front left shoulder:
Value: true
front left touch sensor:
Value: true
front left upperarm:
Value: true
front right forearm:
Value: true
front right shoulder:
Value: true
front right touch sensor:
Value: true
front right upperarm:
Value: true
gps:
Value: true
gripper_centre:
Value: true
gripper_left_finger_link:
Value: true
gripper_right_finger_link:
Value: true
gyro:
Value: true
inertial unit:
Value: true
kinect color:
Value: true
kinect range:
Value: true
left bottom led:
Value: true
left flank camera:
Value: true
left flank depth:
Value: true
left head camera:
Value: true
left head depth:
Value: true
left middle down led:
Value: true
left middle up led:
Value: true
left top led:
Value: true
odom:
Value: true
rear camera:
Value: true
rear depth:
Value: true
rear left forearm:
Value: true
rear left shoulder:
Value: true
rear left touch sensor:
Value: true
rear left upperarm:
Value: true
rear right forearm:
Value: true
rear right shoulder:
Value: true
rear right touch sensor:
Value: true
rear right upperarm:
Value: true
right bottom led:
Value: true
right flank camera:
Value: true
right flank depth:
Value: true
right head camera:
Value: true
right head depth:
Value: true
right middle down led:
Value: true
right middle up led:
Value: true
right top led:
Value: true
solid:
Value: true
solid_0:
Value: true
solid_1:
Value: true
solid_2:
Value: true
solid_3:
Value: true
spotarm_link1:
Value: true
spotarm_link2:
Value: true
spotarm_link3:
Value: true
spotarm_link4:
Value: true
spotarm_link5:
Value: true
spotarm_link6:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
odom:
A:
{}
B:
{}
C:
{}
Image1:
{}
Image2:
{}
Image3:
{}
P:
{}
PlaceBox:
{}
T1:
{}
T2:
{}
T3:
{}
base_link:
SpotArm:
spotarm_link1:
spotarm_link2:
spotarm_link3:
spotarm_link4:
spotarm_link5:
spotarm_link6:
front:
cap screw:
{}
cap screw(1):
{}
cap screw(10):
{}
cap screw(11):
{}
cap screw(12):
{}
cap screw(13):
{}
cap screw(14):
{}
cap screw(15):
{}
cap screw(16):
{}
cap screw(17):
{}
cap screw(18):
{}
cap screw(19):
{}
cap screw(2):
{}
cap screw(3):
{}
cap screw(4):
{}
cap screw(5):
{}
cap screw(6):
{}
cap screw(7):
{}
cap screw(8):
{}
cap screw(9):
{}
gripper_centre:
{}
gripper_left_finger_link:
{}
gripper_right_finger_link:
{}
Velodyne_Puck:
{}
accelerometer:
{}
base_footprint:
{}
front left shoulder:
front left upperarm:
front left forearm:
front left touch sensor:
{}
solid_3:
{}
front right shoulder:
front right upperarm:
front right forearm:
front right touch sensor:
{}
solid_2:
{}
gps:
{}
gyro:
{}
inertial unit:
{}
left bottom led:
{}
left flank camera:
{}
left flank depth:
{}
left head camera:
{}
left head depth:
{}
left middle down led:
{}
left middle up led:
{}
left top led:
{}
rear camera:
{}
rear depth:
{}
rear left shoulder:
rear left upperarm:
rear left forearm:
rear left touch sensor:
{}
solid_1:
{}
rear right shoulder:
rear right upperarm:
rear right forearm:
rear right touch sensor:
{}
solid_0:
{}
right bottom led:
{}
right flank camera:
{}
right flank depth:
{}
right head camera:
{}
right head depth:
{}
right middle down led:
{}
right middle up led:
{}
right top led:
{}
solid:
kinect color:
{}
kinect range:
{}
Update Interval: 0
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_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /Spot/Velodyne_Puck/point_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/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: true
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /Spot/odometry
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_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
Name: GripperCam
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /SpotArm/gripper_camera/image_color
Value: false
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
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
SpotArm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Velodyne_Puck:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
accelerometer:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cap screw:
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(1):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(10):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(11):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(12):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(13):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(14):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(15):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(16):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(17):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(18):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(19):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(2):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(3):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(4):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(5):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(6):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(7):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(8):
Alpha: 1
Show Axes: false
Show Trail: false
cap screw(9):
Alpha: 1
Show Axes: false
Show Trail: false
front:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front left forearm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front left shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front left touch sensor:
Alpha: 1
Show Axes: false
Show Trail: false
front left upperarm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front right forearm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front right shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front right touch sensor:
Alpha: 1
Show Axes: false
Show Trail: false
front right upperarm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gps:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_centre:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gyro:
Alpha: 1
Show Axes: false
Show Trail: false
inertial unit:
Alpha: 1
Show Axes: false
Show Trail: false
kinect color:
Alpha: 1
Show Axes: false
Show Trail: false
kinect range:
Alpha: 1
Show Axes: false
Show Trail: false
left bottom led:
Alpha: 1
Show Axes: false
Show Trail: false
left flank camera:
Alpha: 1
Show Axes: false
Show Trail: false
left flank depth:
Alpha: 1
Show Axes: false
Show Trail: false
left head camera:
Alpha: 1
Show Axes: false
Show Trail: false
left head depth:
Alpha: 1
Show Axes: false
Show Trail: false
left middle down led:
Alpha: 1
Show Axes: false
Show Trail: false
left middle up led:
Alpha: 1
Show Axes: false
Show Trail: false
left top led:
Alpha: 1
Show Axes: false
Show Trail: false
rear camera:
Alpha: 1
Show Axes: false
Show Trail: false
rear depth:
Alpha: 1
Show Axes: false
Show Trail: false
rear left forearm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear left shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear left touch sensor:
Alpha: 1
Show Axes: false
Show Trail: false
rear left upperarm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear right forearm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear right shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear right touch sensor:
Alpha: 1
Show Axes: false
Show Trail: false
rear right upperarm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right bottom led:
Alpha: 1
Show Axes: false
Show Trail: false
right flank camera:
Alpha: 1
Show Axes: false
Show Trail: false
right flank depth:
Alpha: 1
Show Axes: false
Show Trail: false
right head camera:
Alpha: 1
Show Axes: false
Show Trail: false
right head depth:
Alpha: 1
Show Axes: false
Show Trail: false
right middle down led:
Alpha: 1
Show Axes: false
Show Trail: false
right middle up led:
Alpha: 1
Show Axes: false
Show Trail: false
right top led:
Alpha: 1
Show Axes: false
Show Trail: false
solid:
Alpha: 1
Show Axes: false
Show Trail: false
solid_0:
Alpha: 1
Show Axes: false
Show Trail: false
solid_1:
Alpha: 1
Show Axes: false
Show Trail: false
solid_2:
Alpha: 1
Show Axes: false
Show Trail: false
solid_3:
Alpha: 1
Show Axes: false
Show Trail: false
spotarm_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spotarm_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spotarm_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spotarm_link4:
Alpha: 1
Show Axes: false
Show Trail: false
spotarm_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spotarm_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_footprint
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 19.86827278137207
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.9956724643707275
Y: -0.7808008790016174
Z: 0.5836658477783203
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7247973084449768
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.1554017066955566
Saved: ~
Window Geometry:
Displays:
collapsed: false
GripperCam:
collapsed: false
Height: 1136
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000244000003d0fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000003d0000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000341000000cd0000000000000000fb00000014004700720069007000700065007200430061006d0000000341000000cd0000002800ffffff000000010000010f000003d0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e000003d0000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000062c0000003efc0100000002fb0000000800540069006d006501000000000000062c0000024600fffffffb0000000800540069006d00650100000000000004500000000000000000000002cd000003d000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1580
X: 340
Y: 27