From a7a6c47dd9658d19f0bc176c0bed436ca7d4a567 Mon Sep 17 00:00:00 2001 From: hjy <1178065793@qq.com> Date: Fri, 17 Apr 2026 13:16:24 +0800 Subject: [PATCH] update --- config/odin_ros2.rviz | 121 +++++++++++++++++++++++++----------------- script/record_vis.sh | 10 ++++ 2 files changed, 82 insertions(+), 49 deletions(-) create mode 100755 script/record_vis.sh diff --git a/config/odin_ros2.rviz b/config/odin_ros2.rviz index ea02fd1..2bbd903 100644 --- a/config/odin_ros2.rviz +++ b/config/odin_ros2.rviz @@ -8,12 +8,13 @@ Panels: - /Status1 - /Image1/Topic1 - /cloudslam_reprojected1 - - /Odometry1 + - /Odometry1/Odometry1 + - /Odometry1/Odometry1/Shape1 - /slam1 - /dense_depth_demo1 - /Prediction1 - - /Prediction1/Image1 - - /Prediction1/Marker2 + - /Prediction1/Path1 + - /Prediction1/Marker1 - /Planning1 - /Planning1/GridMap1 - /Planning1/path1 @@ -39,7 +40,7 @@ Visualization Manager: Cell Size: 1 Class: rviz_default_plugins/Grid Color: 160; 160; 164 - Enabled: true + Enabled: false Line Style: Line Width: 0.029999999329447746 Value: Lines @@ -52,7 +53,7 @@ Visualization Manager: Plane: XY Plane Cell Count: 10 Reference Frame: - Value: true + Value: false - Class: rviz_default_plugins/Image Enabled: false Max Value: 1 @@ -188,12 +189,12 @@ Visualization Manager: Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 - Axes Length: 1 + Axes Length: 0.5 Axes Radius: 0.10000000149011612 Color: 255; 25; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 + Head Length: 0.10000000149011612 + Head Radius: 0.05000000074505806 + Shaft Length: 0.5 Shaft Radius: 0.05000000074505806 Value: Axes Topic: @@ -394,42 +395,23 @@ Visualization Manager: Enabled: false Name: dense_depth_demo - Class: rviz_default_plugins/TF - Enabled: true + Enabled: false Frame Timeout: 15 Frames: All Enabled: true - odin1_base_link: - Value: true - odom: - Value: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: - odom: - odin1_base_link: - {} + {} Update Interval: 0 - Value: true + Value: false - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/Marker - Enabled: true - Name: Marker - Namespaces: - traj_prediction: true - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /target/pred_trajectory - Value: true - Class: rviz_default_plugins/Image - Enabled: true + Enabled: false Max Value: 1 Median window: 5 Min Value: 0 @@ -441,11 +423,11 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /target/pred_image - Value: true + Value: false - Alpha: 1 Class: rviz_default_plugins/PointStamped Color: 224; 27; 36 - Enabled: true + Enabled: false History Length: 10 Name: target_pos_world Radius: 0.30000001192092896 @@ -456,11 +438,11 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /odin1/sync/target_pos_world - Value: true + Value: false - Alpha: 1 Class: rviz_default_plugins/PointStamped Color: 204; 41; 204 - Enabled: true + Enabled: false History Length: 1 Name: target_pos_cam Radius: 0.20000000298023224 @@ -471,9 +453,37 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /odin1/sync/target_pos_cam + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 25; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.05000000074505806 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /target/pred_path_imu Value: true - Class: rviz_default_plugins/Marker - Enabled: true + Enabled: false Name: Marker Namespaces: {} @@ -484,7 +494,20 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /target/pred_trajectory_py - Value: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /target/pred_trajectory + Value: false Enabled: true Name: Prediction - Class: rviz_common/Group @@ -499,10 +522,10 @@ Visualization Manager: Height Layer: elevation Height Transformer: GridMapLayer History Length: 1 - Invert Rainbow: true - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 + Invert Rainbow: false + Max Color: 28; 113; 216 + Max Intensity: 100 + Min Color: 255; 120; 0 Min Intensity: 0 Name: GridMap Show Grid Lines: true @@ -513,7 +536,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /local_grid_map - Use Rainbow: true + Use Rainbow: false Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -576,25 +599,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/ThirdPersonFollower - Distance: 8.066532135009766 + Distance: 12.054017066955566 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.3127555847167969 - Y: 0.25075721740722656 + X: 0.6477506160736084 + Y: -0.3134164810180664 Z: 0 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.9853979349136353 + Pitch: 1.0747967958450317 Target Frame: odin1_base_link Value: ThirdPersonFollower (rviz_default_plugins) - Yaw: 2.8103888034820557 + Yaw: 3.0954017639160156 Saved: ~ Window Geometry: Displays: @@ -606,7 +629,7 @@ Window Geometry: collapsed: false Image_undistort: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001d4000003b9fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d000002040000002800fffffffb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065030000082a00000112000002bd00000249fb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001d4000003b9fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d00610067006502000007d20000008e0000040500000358fb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000007da00000076000003f400000381fb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: diff --git a/script/record_vis.sh b/script/record_vis.sh new file mode 100755 index 0000000..e4993d2 --- /dev/null +++ b/script/record_vis.sh @@ -0,0 +1,10 @@ +ros2 bag record \ + /odin1/image \ + /odin1/cloud_slam \ + /odin1/odometry \ + /odin1/wiwc \ + /tf \ + /odin1/sync/target_pos_world \ + /odin1/sync/target_pos_cam \ + /odin1/sync/target_observation \ +