diff --git a/rviz/proto.rviz b/rviz/proto.rviz deleted file mode 100644 index 58e6496..0000000 --- a/rviz/proto.rviz +++ /dev/null @@ -1,145 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 520 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/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: - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /yolov8/pose - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: compressed - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /yolov8/seg - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: compressed - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - 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 - 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 - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10 - 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: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1004 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000002ba0000034efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000034e000000e60100001cfa000000000100000002fb0000000a0049006d0061006700650100000000ffffffff0000005e00fffffffb000000100044006900730070006c0061007900730100000000000001560000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002a40000034efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003d0000034e000000c10100001cfa000000000100000002fb0000000a0049006d0061006700650100000000ffffffff0000005e00fffffffb0000000a0056006900650077007301000003a10000010f0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000058b0000003efc0100000002fb0000000800540069006d006501000000000000058b000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000000210000034e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1419 - X: 1094 - Y: 131 diff --git a/rviz/wrist_tracking.rviz b/rviz2/pose_tracking.rviz similarity index 56% rename from rviz/wrist_tracking.rviz rename to rviz2/pose_tracking.rviz index 7bfa79d..55ab77a 100644 --- a/rviz/wrist_tracking.rviz +++ b/rviz2/pose_tracking.rviz @@ -1,43 +1,53 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - - /TF1 - - /PointCloud21/Status1 - Splitter Ratio: 0.5 - Tree Height: 993 - - Class: rviz/Selection + - /PointStamped1 + - /Marker1 + Splitter Ratio: 0.3393939435482025 + Tree Height: 662 + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 + - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 + - Class: rviz_common/Displays + Help Height: 70 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 182 + - Class: rviz_common/Transformation + Name: Transformation + - Class: rviz_common/Time + Experimental: false Name: Time SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 + SyncSource: PointCloud2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true Line Style: @@ -53,11 +63,9 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: rviz/TF + - Class: rviz_default_plugins/TF Enabled: true - Filter (blacklist): "" - Filter (whitelist): "" - Frame Timeout: 9999 + Frame Timeout: 15 Frames: All Enabled: false base_link: @@ -66,8 +74,6 @@ Visualization Manager: Value: false camera_accel_optical_frame: Value: false - camera_aligned_depth_to_color_frame: - Value: false camera_bottom_screw_frame: Value: false camera_color_frame: @@ -82,8 +88,6 @@ Visualization Manager: Value: false camera_gyro_optical_frame: Value: false - camera_imu_optical_frame: - Value: false camera_infra1_frame: Value: false camera_infra1_optical_frame: @@ -96,6 +100,8 @@ Visualization Manager: Value: false caster_link: Value: false + imu_mobile_base: + Value: false laser: Value: false link_arm_l0: @@ -120,6 +126,8 @@ Visualization Manager: Value: false link_grasp_center: Value: false + link_gripper: + Value: false link_gripper_finger_left: Value: false link_gripper_finger_right: @@ -142,28 +150,21 @@ Visualization Manager: Value: false link_right_wheel: Value: false - link_straight_gripper: - Value: false - link_wrist_pitch: - Value: false - link_wrist_roll: - Value: false link_wrist_yaw: Value: false - link_wrist_yaw_bottom: - Value: false respeaker_base: Value: false - Marker Alpha: 1 Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true - Show Names: false + Show Names: true Tree: base_link: caster_link: {} + imu_mobile_base: + {} laser: {} link_aruco_left_base: @@ -181,19 +182,15 @@ Visualization Manager: camera_accel_frame: camera_accel_optical_frame: {} - camera_aligned_depth_to_color_frame: + camera_color_frame: camera_color_optical_frame: {} - camera_color_frame: - {} camera_depth_frame: camera_depth_optical_frame: {} camera_gyro_frame: camera_gyro_optical_frame: {} - camera_imu_optical_frame: - {} camera_infra1_frame: camera_infra1_optical_frame: {} @@ -211,18 +208,15 @@ Visualization Manager: link_aruco_top_wrist: {} link_wrist_yaw: - link_wrist_yaw_bottom: - link_wrist_pitch: - link_wrist_roll: - link_straight_gripper: - link_grasp_center: - {} - link_gripper_finger_left: - link_gripper_fingertip_left: - {} - link_gripper_finger_right: - link_gripper_fingertip_right: - {} + link_gripper: + link_grasp_center: + {} + link_gripper_finger_left: + link_gripper_fingertip_left: + {} + link_gripper_finger_right: + link_gripper_fingertip_right: + {} link_aruco_shoulder: {} respeaker_base: @@ -231,38 +225,6 @@ Visualization Manager: {} Update Interval: 0 Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/color/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: compressed - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /yolov8/wrist/vis - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: compressed - Unreliable: false - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /yolov8/wrist/marker - Name: Marker - Namespaces: - "": true - Queue Size: 100 - Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -271,91 +233,173 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 255; 255; 255 Color Transformer: RGB8 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: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /camera/depth/color/points - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/depth/color/points Use Fixed Frame: true Use rainbow: true Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/color/image_raw/compressed + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /yolov8/pose/vis/compressed + Value: true + - Alpha: 1 + Class: rviz_default_plugins/PointStamped + Color: 204; 41; 204 + Enabled: false + History Length: 1 + Name: PointStamped + Radius: 0.20000000298023224 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /yolov8/pose/right_wrist + Value: false + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + "": true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /yolov8/markers/right_wrist + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Default Light: true Fixed Frame: base_link Frame Rate: 30 Name: root Tools: - - Class: rviz/Interact + - Class: rviz_default_plugins/Interact Hide Inactive Objects: true - - Class: rviz/MoveCamera - - 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 + - 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: /clicked_point + 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/Orbit - Distance: 5.2576003074646 + Class: rviz_default_plugins/Orbit + Distance: 6.460544586181641 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: 1.7059940099716187 - Y: 0.8883990049362183 - Z: 0.9190242886543274 + X: 1.4275530576705933 + Y: -0.06080014258623123 + Z: 1.2394773960113525 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.09539756178855896 + Pitch: 0.734796404838562 Target Frame: - Yaw: 3.110419273376465 + Value: Orbit (rviz) + Yaw: 3.2053909301757812 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1284 + Height: 1245 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001560000046afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000046a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002b50000046afc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000000a0000000a000fffffffb0000000a0049006d00610067006501000000e10000018e0000001600fffffffb0000000a0049006d0061006700650100000275000002300000001600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008f10000003efc0100000002fb0000000800540069006d00650100000000000008f10000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000004da0000046a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001c600000446fc020000000cfb0000001200530065006c0065006300740069006f006e000000003b000000870000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000031f000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c006100790073000000034700000137000000c700fffffffb0000001c005400720061006e00730066006f0072006d006100740069006f006e00000003b8000000c60000007900fffffffb0000000800540069006d00650000000447000000370000003700fffffffb0000000a0049006d0061006700650100000360000001210000002800ffffff00000001000001db00000446fc0200000004fb0000000a00560069006500770073010000003b00000122000000a000fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0049006d00610067006501000001630000031e0000002800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000088b0000003bfc0100000001fc000000000000088b0000025300fffffffa000000010200000002fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000800540069006d006501000004840000003e0000003700ffffff000004de0000044600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false + Transformation: + collapsed: false Views: collapsed: false - Width: 2289 - X: 194 - Y: 17 + Width: 2187 + X: 2741 + Y: 100