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update

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This commit is contained in:
hjy
2026-04-17 13:16:24 +08:00
parent 90aadf1577
commit a7a6c47dd9
2 changed files with 82 additions and 49 deletions
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config/odin_ros2.rviz
+71 -48
View File
@@ -8,12 +8,13 @@ Panels:
- /Status1 - /Status1
- /Image1/Topic1 - /Image1/Topic1
- /cloudslam_reprojected1 - /cloudslam_reprojected1
- /Odometry1 - /Odometry1/Odometry1
- /Odometry1/Odometry1/Shape1
- /slam1 - /slam1
- /dense_depth_demo1 - /dense_depth_demo1
- /Prediction1 - /Prediction1
- /Prediction1/Image1 - /Prediction1/Path1
- /Prediction1/Marker2 - /Prediction1/Marker1
- /Planning1 - /Planning1
- /Planning1/GridMap1 - /Planning1/GridMap1
- /Planning1/path1 - /Planning1/path1
@@ -39,7 +40,7 @@ Visualization Manager:
Cell Size: 1 Cell Size: 1
Class: rviz_default_plugins/Grid Class: rviz_default_plugins/Grid
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: false
Line Style: Line Style:
Line Width: 0.029999999329447746 Line Width: 0.029999999329447746
Value: Lines Value: Lines
@@ -52,7 +53,7 @@ Visualization Manager:
Plane: XY Plane: XY
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: false
- Class: rviz_default_plugins/Image - Class: rviz_default_plugins/Image
Enabled: false Enabled: false
Max Value: 1 Max Value: 1
@@ -188,12 +189,12 @@ Visualization Manager:
Position Tolerance: 0.10000000149011612 Position Tolerance: 0.10000000149011612
Shape: Shape:
Alpha: 1 Alpha: 1
Axes Length: 1 Axes Length: 0.5
Axes Radius: 0.10000000149011612 Axes Radius: 0.10000000149011612
Color: 255; 25; 0 Color: 255; 25; 0
Head Length: 0.30000001192092896 Head Length: 0.10000000149011612
Head Radius: 0.10000000149011612 Head Radius: 0.05000000074505806
Shaft Length: 1 Shaft Length: 0.5
Shaft Radius: 0.05000000074505806 Shaft Radius: 0.05000000074505806
Value: Axes Value: Axes
Topic: Topic:
@@ -394,42 +395,23 @@ Visualization Manager:
Enabled: false Enabled: false
Name: dense_depth_demo Name: dense_depth_demo
- Class: rviz_default_plugins/TF - Class: rviz_default_plugins/TF
Enabled: true Enabled: false
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: true
odin1_base_link:
Value: true
odom:
Value: true
Marker Scale: 1 Marker Scale: 1
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
Show Names: false Show Names: false
Tree: Tree:
odom:
odin1_base_link:
{} {}
Update Interval: 0 Update Interval: 0
Value: true Value: false
- Class: rviz_common/Group - Class: rviz_common/Group
Displays: 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 - Class: rviz_default_plugins/Image
Enabled: true Enabled: false
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@@ -441,11 +423,11 @@ Visualization Manager:
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /target/pred_image Value: /target/pred_image
Value: true Value: false
- Alpha: 1 - Alpha: 1
Class: rviz_default_plugins/PointStamped Class: rviz_default_plugins/PointStamped
Color: 224; 27; 36 Color: 224; 27; 36
Enabled: true Enabled: false
History Length: 10 History Length: 10
Name: target_pos_world Name: target_pos_world
Radius: 0.30000001192092896 Radius: 0.30000001192092896
@@ -456,11 +438,11 @@ Visualization Manager:
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /odin1/sync/target_pos_world Value: /odin1/sync/target_pos_world
Value: true Value: false
- Alpha: 1 - Alpha: 1
Class: rviz_default_plugins/PointStamped Class: rviz_default_plugins/PointStamped
Color: 204; 41; 204 Color: 204; 41; 204
Enabled: true Enabled: false
History Length: 1 History Length: 1
Name: target_pos_cam Name: target_pos_cam
Radius: 0.20000000298023224 Radius: 0.20000000298023224
@@ -471,9 +453,37 @@ Visualization Manager:
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /odin1/sync/target_pos_cam 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 Value: true
- Class: rviz_default_plugins/Marker - Class: rviz_default_plugins/Marker
Enabled: true Enabled: false
Name: Marker Name: Marker
Namespaces: Namespaces:
{} {}
@@ -484,7 +494,20 @@ Visualization Manager:
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /target/pred_trajectory_py 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 Enabled: true
Name: Prediction Name: Prediction
- Class: rviz_common/Group - Class: rviz_common/Group
@@ -499,10 +522,10 @@ Visualization Manager:
Height Layer: elevation Height Layer: elevation
Height Transformer: GridMapLayer Height Transformer: GridMapLayer
History Length: 1 History Length: 1
Invert Rainbow: true Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 28; 113; 216
Max Intensity: 10 Max Intensity: 100
Min Color: 0; 0; 0 Min Color: 255; 120; 0
Min Intensity: 0 Min Intensity: 0
Name: GridMap Name: GridMap
Show Grid Lines: true Show Grid Lines: true
@@ -513,7 +536,7 @@ Visualization Manager:
History Policy: Keep Last History Policy: Keep Last
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /local_grid_map Value: /local_grid_map
Use Rainbow: true Use Rainbow: false
Value: true Value: true
- Class: rviz_default_plugins/MarkerArray - Class: rviz_default_plugins/MarkerArray
Enabled: true Enabled: true
@@ -576,25 +599,25 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz_default_plugins/ThirdPersonFollower Class: rviz_default_plugins/ThirdPersonFollower
Distance: 8.066532135009766 Distance: 12.054017066955566
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: -0.3127555847167969 X: 0.6477506160736084
Y: 0.25075721740722656 Y: -0.3134164810180664
Z: 0 Z: 0
Focal Shape Fixed Size: false Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.9853979349136353 Pitch: 1.0747967958450317
Target Frame: odin1_base_link Target Frame: odin1_base_link
Value: ThirdPersonFollower (rviz_default_plugins) Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 2.8103888034820557 Yaw: 3.0954017639160156
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
@@ -606,7 +629,7 @@ Window Geometry:
collapsed: false collapsed: false
Image_undistort: Image_undistort:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001d4000003b9fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d000002040000002800fffffffb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065030000082a00000112000002bd00000249fb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000400000000000001d4000003b9fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d00610067006502000007d20000008e0000040500000358fb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000007da00000076000003f400000381fb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Tool Properties: Tool Properties:
script/record_vis.sh
Executable
+10
View File
@@ -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 \