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Added lasers and cameras to the car
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@sloretz
sloretz committed Jun 21, 2017
1 parent 8449bd1 commit 4417632
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Showing 2 changed files with 340 additions and 82 deletions.
196 changes: 129 additions & 67 deletions prius_description/rviz/demo.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,8 @@ Panels:
Expanded:
- /Global Options1
- /Status1
- /Front Center Laser1
- /Front Right Laser1
- /Front Left Laser1
Splitter Ratio: 0.5
Tree Height: 1260
Tree Height: 559
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand All @@ -29,7 +26,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Front Center Laser
SyncSource: Front Left Laser
Visualization Manager:
Class: ""
Displays:
Expand Down Expand Up @@ -61,6 +58,18 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
center_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
chassis:
Alpha: 1
Show Axes: false
Expand All @@ -74,7 +83,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
front_laser_link:
front_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand All @@ -96,6 +105,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
left_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_left_wheel:
Alpha: 1
Show Axes: false
Expand All @@ -106,6 +119,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
right_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
steering_wheel:
Alpha: 1
Show Axes: false
Expand All @@ -122,13 +139,19 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
back_camera_link:
Value: true
base_link:
Value: true
center_laser_link:
Value: true
chassis:
Value: true
fl_axle:
Value: true
fr_axle:
Value: true
front_laser_link:
front_camera_link:
Value: true
front_left_laser_link:
Value: true
Expand All @@ -138,10 +161,14 @@ Visualization Manager:
Value: true
front_right_wheel:
Value: true
left_camera_link:
Value: true
rear_left_wheel:
Value: true
rear_right_wheel:
Value: true
right_camera_link:
Value: true
steering_wheel:
Value: true
Marker Scale: 1
Expand All @@ -150,25 +177,34 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
chassis:
fl_axle:
front_left_wheel:
base_link:
chassis:
back_camera_link:
{}
center_laser_link:
{}
fl_axle:
front_left_wheel:
{}
fr_axle:
front_right_wheel:
{}
front_camera_link:
{}
front_left_laser_link:
{}
front_right_laser_link:
{}
left_camera_link:
{}
rear_left_wheel:
{}
rear_right_wheel:
{}
fr_axle:
front_right_wheel:
right_camera_link:
{}
steering_wheel:
{}
front_laser_link:
{}
front_left_laser_link:
{}
front_right_laser_link:
{}
rear_left_wheel:
{}
rear_right_wheel:
{}
steering_wheel:
{}
Update Interval: 0
Value: true
- Alpha: 1
Expand All @@ -188,37 +224,7 @@ Visualization Manager:
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 9.10844002e-44
Name: Front Center Laser
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.100000001
Style: Flat Squares
Topic: /prius/front_laser/scan
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/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 9.10844002e-44
Min Color: 0; 0; 0
Min Intensity: 9.10844002e-44
Min Intensity: 0
Name: Front Right Laser
Position Transformer: XYZ
Queue Size: 10
Expand Down Expand Up @@ -246,7 +252,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4.04975256e-43
Max Intensity: 1.29323113e-34
Min Color: 0; 0; 0
Min Intensity: 0
Name: Front Left Laser
Expand All @@ -261,6 +267,54 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /prius/front_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: front_camera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /prius/back_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: back_camera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /prius/left_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: left_camera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /prius/right_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: right_camera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand All @@ -285,40 +339,48 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 46.3980865
Distance: 11.322381
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.189437315
Y: -1.898422
Z: 0.896482408
X: 0.618725657
Y: -1.1321249
Z: 0.292605847
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.595398366
Pitch: 1.19539833
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.170396775
Yaw: 3.12358236
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1548
Height: 1576
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000015600000574fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a00000574000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000574fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003a000005740000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004e00000003efc0100000002fb0000000800540069006d00650100000000000004e00000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003840000057400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000590fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b7000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000016006c006500660074005f00630061006d00650072006101000002f7000001650000001600fffffffb0000001800720069006700680074005f00630061006d0065007200610100000462000001680000001600ffffff000000010000014600000590fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002c20000009e00fffffffb0000001800660072006f006e0074005f00630061006d0065007200610100000302000001600000001600fffffffb00000016006200610063006b005f00630061006d0065007200610100000468000001620000001600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bf0000003efc0100000002fb0000000800540069006d00650100000000000009bf0000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000007170000059000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1248
collapsed: false
Width: 2495
X: 65
Y: 24
back_camera:
collapsed: false
front_camera:
collapsed: false
left_camera:
collapsed: false
right_camera:
collapsed: false
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