From 9866bd45015f27a925c02fea69185f43942fe792 Mon Sep 17 00:00:00 2001 From: Blake Buchanan Date: Sat, 21 Sep 2024 16:48:10 -0400 Subject: [PATCH 1/4] First pass at getting launch files and configs together. Needs work. --- hydra_ros/config/datasets/bosch_stretch.yaml | 14 + .../launch/datasets/bosch_stretch.launch | 52 +++ hydra_ros/rviz/bosch_stretch.rviz | 341 ++++++++++++++++++ 3 files changed, 407 insertions(+) create mode 100644 hydra_ros/config/datasets/bosch_stretch.yaml create mode 100644 hydra_ros/launch/datasets/bosch_stretch.launch create mode 100644 hydra_ros/rviz/bosch_stretch.rviz diff --git a/hydra_ros/config/datasets/bosch_stretch.yaml b/hydra_ros/config/datasets/bosch_stretch.yaml new file mode 100644 index 0000000..c580d98 --- /dev/null +++ b/hydra_ros/config/datasets/bosch_stretch.yaml @@ -0,0 +1,14 @@ +--- +type: RosInput +tf_verbosity: 1 +clear_queue_on_fail: true +receivers: + - type: ImageReceiver + sensor: + type: camera_info + min_range: $(arg sensor_min_range) + max_range: $(arg sensor_max_range) + camera_info_topic: $(arg rgb_info_topic) + extrinsics: + type: ros + sensor_frame: $(arg sensor_frame) diff --git a/hydra_ros/launch/datasets/bosch_stretch.launch b/hydra_ros/launch/datasets/bosch_stretch.launch new file mode 100644 index 0000000..c609b4e --- /dev/null +++ b/hydra_ros/launch/datasets/bosch_stretch.launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hydra_ros/rviz/bosch_stretch.rviz b/hydra_ros/rviz/bosch_stretch.rviz new file mode 100644 index 0000000..4d2bdd8 --- /dev/null +++ b/hydra_ros/rviz/bosch_stretch.rviz @@ -0,0 +1,341 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Scene Graph1 + Splitter Ratio: 0.5 + Tree Height: 871 + - 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: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_link_gt: + Value: true + front_lidar: + Value: true + left_cam: + Value: true + map: + Value: true + rear_lidar: + Value: true + right_cam: + Value: true + world: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + world: + base_link_gt: + front_lidar: + {} + left_cam: + {} + rear_lidar: + {} + right_cam: + {} + Update Interval: 0 + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /hydra_dsg_visualizer/dsg_markers + Name: Scene Graph (Static) + Namespaces: + interlayer_edges_3_2: true + interlayer_edges_4_3: true + interlayer_edges_5_4: true + layer_bounding_boxes_2: true + layer_bounding_boxes_edges_2: true + layer_edges_20: true + layer_edges_3: true + layer_labels_2: true + layer_labels_4: true + layer_labels_5: true + layer_nodes_2: true + layer_nodes_20: true + layer_nodes_3: true + layer_nodes_4: true + layer_nodes_5: true + layer_polygon_boundaries_20: true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /hydra_dsg_visualizer/dynamic_layers_viz + Name: Scene Graph (Dynamic) + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: kimera_pgmo_rviz/MeshDisplay + Cull Backfaces: true + Enable Lighting: false + Enabled: true + Name: Mesh + Queue Size: 10 + Toggle Visibility All: true + Topic: /hydra_dsg_visualizer/dsg_mesh + Unreliable: false + Value: true + Visible: + Value: true + robot0: + Value: true + dsg_mesh: true + Enabled: true + Name: Scene Graph + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Input Pointcloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /semantic_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/aligned_depth_to_color/image_raw + Max Value: 1 + Median window: 300 + Min Value: 0 + Name: Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /tesse/seg_cam/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Semantics + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/color/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RGB + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: true + Name: Input + - Class: rviz/Group + Displays: + - Class: rviz/Marker + Enabled: true + Marker Topic: /incremental_dsg_builder_node/pgmo/deformation_graph_mesh_mesh + Name: Mesh Edges + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /incremental_dsg_builder_node/pgmo/deformation_graph_pose_mesh + Name: Pose-Mesh Edges + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: false + Name: Factor Graph + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /hydra_ros_node/places/gvd_graph_viz + Name: GVD Graph + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /hydra_ros_node/places/graph_viz + Name: Sparse GVD Graph + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /hydra_ros_node/places/gvd_cluster_viz + Name: GVD Clusters + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /hydra_ros_node/places/esdf_viz + Name: EsdfSlice + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: Places + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /hydra_ros_node/reconstruction/tsdf_viz + Name: TSDF Distances + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /hydra_ros_node/reconstruction/tsdf_weight_viz + Name: TSDF Weights + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: Reconstruction + Enabled: true + Global Options: + Background Color: 255; 255; 255 + 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: 32.54032516479492 + 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: -9.634339332580566 + Y: 23.9942626953125 + Z: 10.865774154663086 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7147967219352722 + Target Frame: + Yaw: 3.111708164215088 + Saved: ~ +Window Geometry: + Depth: + collapsed: false + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000003a2fc020000000bfb0000001200530065006c0065006300740069006f006e000000003b0000018f0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a00440065007000740068000000036d0000006e0000001600fffffffb0000001200530065006d0061006e00740069006300730000000382000000590000001600fffffffb00000006005200470042000000020a000001d10000001600ffffff000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000351000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d006502000006a2000002580000035e000001e0fb0000000800540069006d0065010000000000000450000000000000000000000624000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + RGB: + collapsed: false + Selection: + collapsed: false + Semantics: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1920 + X: 364 + Y: 69 From 65ddf72152064941031e53cbb7b8d72c4905b2d1 Mon Sep 17 00:00:00 2001 From: Blake Buchanan Date: Sat, 21 Sep 2024 17:23:32 -0400 Subject: [PATCH 2/4] Add static tfs for bosch stretch --- hydra_ros/launch/datasets/bosch_stretch.launch | 4 ++-- .../static_tfs/bosch_stretch_static_tfs.xml | 15 +++++++++++++++ 2 files changed, 17 insertions(+), 2 deletions(-) create mode 100644 hydra_ros/launch/static_tfs/bosch_stretch_static_tfs.xml diff --git a/hydra_ros/launch/datasets/bosch_stretch.launch b/hydra_ros/launch/datasets/bosch_stretch.launch index c609b4e..24adcb8 100644 --- a/hydra_ros/launch/datasets/bosch_stretch.launch +++ b/hydra_ros/launch/datasets/bosch_stretch.launch @@ -22,7 +22,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/hydra_ros/launch/static_tfs/bosch_stretch_static_tfs.xml b/hydra_ros/launch/static_tfs/bosch_stretch_static_tfs.xml new file mode 100644 index 0000000..3681ef8 --- /dev/null +++ b/hydra_ros/launch/static_tfs/bosch_stretch_static_tfs.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + From bab1ab6ad092d9383a2d87b9db60aaecfc2b4def Mon Sep 17 00:00:00 2001 From: Blake Buchanan Date: Sun, 20 Oct 2024 18:48:38 -0400 Subject: [PATCH 3/4] test day number 1 commit. TF tree mostly resolved. still cookin'... --- hydra_ros/config/color/bosch_office.csv | 206 ++++++++++++++++++ .../launch/datasets/bosch_stretch.launch | 14 +- .../static_tfs/bosch_stretch_static_tfs.xml | 4 +- hydra_ros/rviz/bosch_stretch.rviz | 200 +++++++++++++---- 4 files changed, 370 insertions(+), 54 deletions(-) create mode 100644 hydra_ros/config/color/bosch_office.csv diff --git a/hydra_ros/config/color/bosch_office.csv b/hydra_ros/config/color/bosch_office.csv new file mode 100644 index 0000000..49f1c77 --- /dev/null +++ b/hydra_ros/config/color/bosch_office.csv @@ -0,0 +1,206 @@ +name,red,green,blue,alpha,id +Airventilation_3x,255,20,127,255,1 +Airventilation_CrossSection,255,20,127,255,1 +AirventilationGrid_A,255,20,127,255,1 +AirventilationGrid_B,255,20,127,255,1 +Books,250,50,50,255,2 +Bookshelf,250,50,50,255,2 +Bottle,255,20,127,255,1 +Box_Black,255,20,127,255,1 +Box_Cardboard,255,20,127,255,1 +Box_Gray,255,20,127,255,1 +CardboardBox01,255,20,127,255,1 +Carpet_End,169,169,169,255,3 +Carpet_Full_Short,169,169,169,255,3 +Carpet_SingleSmallRound,169,169,169,255,3 +Carpet_Tile,169,169,169,255,3 +Cart,32,32,32,255,0 +CeilingHang01,102,0,204,255,4 +CeilingLamp,102,0,204,255,4 +CeilingLamp_Embed,102,0,204,255,4 +CeilingLamp_Roofpart,102,0,204,255,4 +Cell_Bars_Large,32,32,32,255,0 +Cell_Bed,32,32,32,255,0 +Cell_Complete,2,103,71,255,19 +Cell_Shelf,154,229,206,255,9 +Cell_Sink,32,32,32,255,0 +Cell_Toilet,32,32,32,255,0 +Chair_LeatherOffice,102,255,0,255,5 +Chair_Spinning,102,255,0,255,5 +Chair_Wood,102,255,0,255,5 +Closet_Door_L,154,229,206,255,9 +Closet_Door_R,154,229,206,255,9 +Closet_Metal,32,32,32,255,0 +Collider_Backup,32,32,32,255,0 +CorkBoard,32,32,32,255,0 +Couch_1seat,39,144,65,255,7 +Couch_2seat,39,144,65,255,7 +Couch_3seat,39,144,65,255,7 +Desk,54,176,239,255,16 +Door_Bronze_Metal_Window,154,229,206,255,9 +Door_Cell,154,229,206,255,9 +Door_L,154,229,206,255,9 +Door_Metal_Gray,154,229,206,255,9 +Door_MetalDark,154,229,206,255,9 +Door_R,154,229,206,255,9 +Door_Wooden_Black,154,229,206,255,9 +Drawer_A,154,229,206,255,9 +Drawer_B,154,229,206,255,9 +Drawer_C,154,229,206,255,9 +Dresser_A_WithBooks,154,229,206,255,9 +Elevator,2,103,71,255,19 +Elevator_Panel_Inside,2,103,71,255,19 +Elevator_Panel_Outside,2,103,71,255,19 +ElevatorDoor_L,2,103,71,255,19 +ElevatorDoor_R,2,103,71,255,19 +ExitSign_A,32,32,32,255,0 +ExitSign_B,32,32,32,255,0 +ExitWay_Lamp,32,32,32,255,0 +Fan_Blades,255,23,23,255,10 +FanTable,54,176,239,255,16 +File_Papers,255,23,23,255,10 +FileFolder,255,23,23,255,10 +Files_Drawer,255,23,23,255,10 +Flagpole_Wall,32,32,32,255,0 +Floor_10x10,124,133,141,255,3 +Floor_12x1,124,133,141,255,3 +Floor_12x2,124,133,141,255,3 +Floor_12x4,124,133,141,255,3 +Floor_3x3,124,133,141,255,3 +Floor_4x2,124,133,141,255,3 +Floor_6x2,124,133,141,255,3 +Floor_6x3,124,133,141,255,3 +Floor_6x4,124,133,141,255,3 +Folder01,255,23,23,255,10 +Folder02,255,23,23,255,10 +FolderHolder,255,23,23,255,10 +FolderHolder_WithFiles,255,23,23,255,10 +Hand_Paper,255,23,23,255,10 +Keyboard,255,23,23,255,10 +Lamp_Desk,54,176,239,255,16 +Lamp_Fluorescent_A,62,146,211,255,11 +Lamp_Fluorescent_A_Hang,62,146,211,255,11 +Lamp_Fluorescent_B,62,146,211,255,11 +Lamp_Fluorescent_B_Hang,62,146,211,255,11 +Lamp_Fluorescent_C,62,146,211,255,11 +Lamp_Fluorescent_C_Hang,62,146,211,255,11 +Lamp_Spot,62,146,211,255,11 +Lamp_SpotBulb,62,146,211,255,11 +Lamp_SquareCeiling,102,0,204,255,4 +Laptop_1,255,23,23,255,10 +Laptop_2,255,23,23,255,10 +LCD_Screen_1,255,23,23,255,10 +LCD_Screen_2,255,23,23,255,10 +LCD_ScreenSOLO_1,255,23,23,255,10 +Leather_Bench,35,100,35,255,6 +Metal_Drawer,154,229,206,255,9 +Metal_Drawer_SeparateDrawers,154,229,206,255,9 +MetalCabinet,154,229,206,255,9 +MetalCabinet_GridDoors,154,229,206,255,9 +MetalShelf_Open,154,229,206,255,9 +MetalShelf_Open_WithProps,154,229,206,255,9 +MetalShelf_Signle,154,229,206,255,9 +Mouse,255,23,23,255,10 +MousePad,255,23,23,255,10 +Mug,255,23,23,255,10 +Mug_WithPens,255,23,23,255,10 +Painting_A,246,188,6,255,12 +Painting_B,246,188,6,255,12 +Painting_C,246,188,6,255,12 +Painting_D,246,188,6,255,12 +Painting_Diploma,246,188,6,255,12 +Painting_E,246,188,6,255,12 +Painting_F,246,188,6,255,12 +Painting_G,246,188,6,255,12 +Painting_Pic,246,188,6,255,12 +PaintingSet_A,246,188,6,255,12 +PaintingSet_B,246,188,6,255,12 +PaintingSet_C,246,188,6,255,12 +PaintingSet_D,246,188,6,255,12 +Paper,255,23,23,255,10 +Paper01,255,23,23,255,10 +Paper02,255,23,23,255,10 +PaperBag01,255,23,23,255,10 +PC,255,23,23,255,10 +Pen,255,23,23,255,10 +Pencil,255,23,23,255,10 +Phone,255,23,23,255,10 +Pipe_Holder,32,32,32,255,0 +PipeLargeCeiling2x,102,0,204,255,4 +PipeLargeCeiling6x,102,0,204,255,4 +Plant_Inside_Large,38,112,233,255,13 +Plant_Inside_Small,38,112,233,255,13 +Sign_Hanging,175,32,45,255,14 +Sink3x,32,32,32,255,0 +Stairs_RailingInside_Loop,32,32,32,255,0 +Stairs_RailingInside_Top,32,32,32,255,0 +Stairs_RailingOutside,32,32,32,255,0 +StairsMod_Ground,32,32,32,255,0 +StairsMod_Loop,32,32,32,255,0 +StairsMod_RailingInside_Loop,32,32,32,255,0 +StairsMod_RailingOutside,32,32,32,255,0 +StairsMod_StepProtectors,32,32,32,255,0 +StairsMod_Top,32,32,32,255,0 +Sticker01,246,188,6,255,12 +Sticker02,246,188,6,255,12 +Sticker03,246,188,6,255,12 +f_avg,35,213,234,255,20 +SMPL_Female_Autonomous,35,213,234,255,20 +SMPL_f,35,213,234,255,20 +m_avg,35,213,234,255,20 +Table_Drawer,54,176,239,255,16 +Table_DrawerSmall,54,176,239,255,16 +Table_Flag,255,23,23,255,10 +Table_Main,54,176,239,255,16 +Table_MeetingWithChairs,54,176,239,255,16 +Table_Office,54,176,239,255,16 +Table_OfficeDrawer,54,176,239,255,16 +TableScreen_A,244,228,69,255,17 +TableScreen_B,244,228,69,255,17 +TableScreen_C,244,228,69,255,17 +TableScreen_C_Glass,244,228,69,255,17 +TableScreen_E,244,228,69,255,17 +TableScreen_E_Glass,244,228,69,255,17 +TableWooden,54,176,239,255,16 +TableWooden_B,54,176,239,255,16 +tesse_multiscene_agent,32,32,32,255,0 +Toilet,32,32,32,255,0 +Toilet_Door,32,32,32,255,0 +Toilet_Paper,32,32,32,255,0 +Toilet_Partition_End,32,32,32,255,0 +Toilet_Partition_Tile,32,32,32,255,0 +ToiletSign,32,32,32,255,0 +Trashcan,154,38,91,255,18 +Trashcan_Metal,154,38,91,255,18 +Urinal,32,32,32,255,0 +Urinal_Partition,32,32,32,255,0 +W_1x,2,103,71,255,19 +W_2x_glass_A,2,103,71,255,19 +W_2x_glass_B,2,103,71,255,19 +W_2x_glass_Door,2,103,71,255,19 +W_2x_glass_DoorDouble,2,103,71,255,19 +W_3x,2,103,71,255,19 +W_3x_Elevator_Door,2,103,71,255,19 +W_6x,2,103,71,255,19 +W_6x_Door,2,103,71,255,19 +W_6x_DoorDouble,2,103,71,255,19 +W_6x_DoorWindow_Large,2,103,71,255,19 +W_6x_Window_Large_B,2,103,71,255,19 +W_6x_Window_MiniDouble,2,103,71,255,19 +W_6x_Window_Small,2,103,71,255,19 +W_ConnectSeam,2,103,71,255,19 +W_Pilar_Large,2,103,71,255,19 +W_Pilar_Small,2,103,71,255,19 +Water_Dispenser,154,38,91,255,18 +Water_DispenserMUG,154,38,91,255,18 +WaterSprinkler,32,32,32,255,0 +WaterSprinklerPipe_3x,32,32,32,255,0 +WaterSprinklerPipe_CornerRight,32,32,32,255,0 +WhiteBoard,246,188,6,255,12 +WhiteBoard_Walll,246,188,6,255,12 +WindowBlinds_A,32,32,32,255,0 +WindowBlinds_B,32,32,32,255,0 +WindowBlinds_Closed,32,32,32,255,0 +WindowBlinds_D,32,32,32,255,0 +Stairs_Unknown,125,218,3,255,15 +Invalid,255,255,255,255,0 diff --git a/hydra_ros/launch/datasets/bosch_stretch.launch b/hydra_ros/launch/datasets/bosch_stretch.launch index 24adcb8..75fb78c 100644 --- a/hydra_ros/launch/datasets/bosch_stretch.launch +++ b/hydra_ros/launch/datasets/bosch_stretch.launch @@ -2,7 +2,7 @@ - + @@ -12,9 +12,9 @@ - - - + + + @@ -26,8 +26,8 @@ - - + + @@ -36,7 +36,7 @@ - + - + diff --git a/hydra_ros/rviz/bosch_stretch.rviz b/hydra_ros/rviz/bosch_stretch.rviz index 4d2bdd8..fc61d14 100644 --- a/hydra_ros/rviz/bosch_stretch.rviz +++ b/hydra_ros/rviz/bosch_stretch.rviz @@ -4,9 +4,11 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Global Options1 + - /TF1 - /Scene Graph1 Splitter Ratio: 0.5 - Tree Height: 871 + Tree Height: 1978 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -39,19 +41,93 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - base_link_gt: + base_imu: Value: true - front_lidar: + base_link: Value: true - left_cam: + camera_accel_frame: Value: true - map: + camera_accel_optical_frame: Value: true - rear_lidar: + camera_bottom_screw_frame: Value: true - right_cam: + camera_color_frame: Value: true - world: + camera_color_optical_frame: + Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_gyro_frame: + Value: true + camera_gyro_optical_frame: + Value: true + camera_infra1_frame: + Value: true + camera_infra1_optical_frame: + Value: true + camera_infra2_frame: + Value: true + camera_infra2_optical_frame: + Value: true + camera_link: + Value: true + caster_link: + Value: true + laser: + Value: true + link_arm_l0: + Value: true + link_arm_l1: + Value: true + link_arm_l2: + Value: true + link_arm_l3: + Value: true + link_arm_l4: + Value: true + link_aruco_inner_wrist: + Value: true + link_aruco_left_base: + Value: true + link_aruco_right_base: + Value: true + link_aruco_shoulder: + Value: true + link_aruco_top_wrist: + Value: true + link_grasp_center: + Value: true + link_gripper: + Value: true + link_gripper_finger_left: + Value: true + link_gripper_finger_right: + Value: true + link_gripper_fingertip_left: + Value: true + link_gripper_fingertip_right: + Value: true + link_head: + Value: true + link_head_pan: + Value: true + link_head_tilt: + Value: true + link_left_wheel: + Value: true + link_lift: + Value: true + link_mast: + Value: true + link_right_wheel: + Value: true + link_wrist_yaw: + Value: true + odom: + Value: true + respeaker_base: Value: true Marker Alpha: 1 Marker Scale: 1 @@ -60,17 +136,70 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - map: - world: - base_link_gt: - front_lidar: - {} - left_cam: - {} - rear_lidar: - {} - right_cam: + odom: + base_link: + base_imu: + {} + caster_link: + {} + laser: + {} + link_aruco_left_base: + {} + link_aruco_right_base: + {} + link_left_wheel: + {} + link_mast: + link_head: + link_head_pan: + link_head_tilt: + camera_bottom_screw_frame: + camera_link: + camera_accel_frame: + camera_accel_optical_frame: + {} + camera_color_frame: + camera_color_optical_frame: + {} + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_gyro_frame: + camera_gyro_optical_frame: + {} + camera_infra1_frame: + camera_infra1_optical_frame: + {} + camera_infra2_frame: + camera_infra2_optical_frame: + {} + link_lift: + link_arm_l4: + link_arm_l3: + link_arm_l2: + link_arm_l1: + link_arm_l0: + link_aruco_inner_wrist: + {} + link_aruco_top_wrist: + {} + link_wrist_yaw: + 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: {} + link_right_wheel: + {} Update Interval: 0 Value: true - Class: rviz/Group @@ -80,22 +209,7 @@ Visualization Manager: Marker Topic: /hydra_dsg_visualizer/dsg_markers Name: Scene Graph (Static) Namespaces: - interlayer_edges_3_2: true - interlayer_edges_4_3: true - interlayer_edges_5_4: true - layer_bounding_boxes_2: true - layer_bounding_boxes_edges_2: true - layer_edges_20: true - layer_edges_3: true - layer_labels_2: true - layer_labels_4: true - layer_labels_5: true - layer_nodes_2: true - layer_nodes_20: true - layer_nodes_3: true - layer_nodes_4: true - layer_nodes_5: true - layer_polygon_boundaries_20: true + {} Queue Size: 100 Value: true - Class: rviz/MarkerArray @@ -116,11 +230,7 @@ Visualization Manager: Topic: /hydra_dsg_visualizer/dsg_mesh Unreliable: false Value: true - Visible: - Value: true - robot0: - Value: true - dsg_mesh: true + Visible: true Enabled: true Name: Scene Graph - Class: rviz/Group @@ -271,7 +381,7 @@ Visualization Manager: Global Options: Background Color: 255; 255; 255 Default Light: true - Fixed Frame: map + Fixed Frame: odom Frame Rate: 30 Name: root Tools: @@ -320,10 +430,10 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 1016 + Height: 2123 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd000000040000000000000156000003a2fc020000000bfb0000001200530065006c0065006300740069006f006e000000003b0000018f0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a00440065007000740068000000036d0000006e0000001600fffffffb0000001200530065006d0061006e00740069006300730000000382000000590000001600fffffffb00000006005200470042000000020a000001d10000001600ffffff000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000351000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d006502000006a2000002580000035e000001e0fb0000000800540069006d0065010000000000000450000000000000000000000624000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000007f5fc020000000bfb0000001200530065006c0065006300740069006f006e000000003b0000018f0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000007f5000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a00440065007000740068000000036d0000006e0000001600fffffffb0000001200530065006d0061006e00740069006300730000000382000000590000001600fffffffb00000006005200470042000000020a000001d10000001600ffffff000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000351000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650200000422000002580000035e000001e0fb0000000800540069006d0065010000000000000450000000000000000000000da4000007f500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 RGB: collapsed: false Selection: @@ -336,6 +446,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1920 - X: 364 - Y: 69 + Width: 3840 + X: 1920 + Y: 0 From f873b768bcd7f3c14b22be9d759df7ab581ff4ee Mon Sep 17 00:00:00 2001 From: Blake Buchanan Date: Sun, 27 Oct 2024 10:36:54 -0400 Subject: [PATCH 4/4] try to get Hydra to work --- hydra_ros/config/color/bosch_office.csv | 355 ++++++++---------- .../launch/datasets/bosch_stretch.launch | 54 ++- hydra_ros/rviz/bosch_stretch.rviz | 161 ++++---- 3 files changed, 278 insertions(+), 292 deletions(-) diff --git a/hydra_ros/config/color/bosch_office.csv b/hydra_ros/config/color/bosch_office.csv index 49f1c77..aaeb0a0 100644 --- a/hydra_ros/config/color/bosch_office.csv +++ b/hydra_ros/config/color/bosch_office.csv @@ -1,206 +1,151 @@ name,red,green,blue,alpha,id -Airventilation_3x,255,20,127,255,1 -Airventilation_CrossSection,255,20,127,255,1 -AirventilationGrid_A,255,20,127,255,1 -AirventilationGrid_B,255,20,127,255,1 -Books,250,50,50,255,2 -Bookshelf,250,50,50,255,2 -Bottle,255,20,127,255,1 -Box_Black,255,20,127,255,1 -Box_Cardboard,255,20,127,255,1 -Box_Gray,255,20,127,255,1 -CardboardBox01,255,20,127,255,1 -Carpet_End,169,169,169,255,3 -Carpet_Full_Short,169,169,169,255,3 -Carpet_SingleSmallRound,169,169,169,255,3 -Carpet_Tile,169,169,169,255,3 -Cart,32,32,32,255,0 -CeilingHang01,102,0,204,255,4 -CeilingLamp,102,0,204,255,4 -CeilingLamp_Embed,102,0,204,255,4 -CeilingLamp_Roofpart,102,0,204,255,4 -Cell_Bars_Large,32,32,32,255,0 -Cell_Bed,32,32,32,255,0 -Cell_Complete,2,103,71,255,19 -Cell_Shelf,154,229,206,255,9 -Cell_Sink,32,32,32,255,0 -Cell_Toilet,32,32,32,255,0 -Chair_LeatherOffice,102,255,0,255,5 -Chair_Spinning,102,255,0,255,5 -Chair_Wood,102,255,0,255,5 -Closet_Door_L,154,229,206,255,9 -Closet_Door_R,154,229,206,255,9 -Closet_Metal,32,32,32,255,0 -Collider_Backup,32,32,32,255,0 -CorkBoard,32,32,32,255,0 -Couch_1seat,39,144,65,255,7 -Couch_2seat,39,144,65,255,7 -Couch_3seat,39,144,65,255,7 -Desk,54,176,239,255,16 -Door_Bronze_Metal_Window,154,229,206,255,9 -Door_Cell,154,229,206,255,9 -Door_L,154,229,206,255,9 -Door_Metal_Gray,154,229,206,255,9 -Door_MetalDark,154,229,206,255,9 -Door_R,154,229,206,255,9 -Door_Wooden_Black,154,229,206,255,9 -Drawer_A,154,229,206,255,9 -Drawer_B,154,229,206,255,9 -Drawer_C,154,229,206,255,9 -Dresser_A_WithBooks,154,229,206,255,9 -Elevator,2,103,71,255,19 -Elevator_Panel_Inside,2,103,71,255,19 -Elevator_Panel_Outside,2,103,71,255,19 -ElevatorDoor_L,2,103,71,255,19 -ElevatorDoor_R,2,103,71,255,19 -ExitSign_A,32,32,32,255,0 -ExitSign_B,32,32,32,255,0 -ExitWay_Lamp,32,32,32,255,0 -Fan_Blades,255,23,23,255,10 -FanTable,54,176,239,255,16 -File_Papers,255,23,23,255,10 -FileFolder,255,23,23,255,10 -Files_Drawer,255,23,23,255,10 -Flagpole_Wall,32,32,32,255,0 -Floor_10x10,124,133,141,255,3 -Floor_12x1,124,133,141,255,3 -Floor_12x2,124,133,141,255,3 -Floor_12x4,124,133,141,255,3 -Floor_3x3,124,133,141,255,3 -Floor_4x2,124,133,141,255,3 -Floor_6x2,124,133,141,255,3 -Floor_6x3,124,133,141,255,3 -Floor_6x4,124,133,141,255,3 -Folder01,255,23,23,255,10 -Folder02,255,23,23,255,10 -FolderHolder,255,23,23,255,10 -FolderHolder_WithFiles,255,23,23,255,10 -Hand_Paper,255,23,23,255,10 -Keyboard,255,23,23,255,10 -Lamp_Desk,54,176,239,255,16 -Lamp_Fluorescent_A,62,146,211,255,11 -Lamp_Fluorescent_A_Hang,62,146,211,255,11 -Lamp_Fluorescent_B,62,146,211,255,11 -Lamp_Fluorescent_B_Hang,62,146,211,255,11 -Lamp_Fluorescent_C,62,146,211,255,11 -Lamp_Fluorescent_C_Hang,62,146,211,255,11 -Lamp_Spot,62,146,211,255,11 -Lamp_SpotBulb,62,146,211,255,11 -Lamp_SquareCeiling,102,0,204,255,4 -Laptop_1,255,23,23,255,10 -Laptop_2,255,23,23,255,10 -LCD_Screen_1,255,23,23,255,10 -LCD_Screen_2,255,23,23,255,10 -LCD_ScreenSOLO_1,255,23,23,255,10 -Leather_Bench,35,100,35,255,6 -Metal_Drawer,154,229,206,255,9 -Metal_Drawer_SeparateDrawers,154,229,206,255,9 -MetalCabinet,154,229,206,255,9 -MetalCabinet_GridDoors,154,229,206,255,9 -MetalShelf_Open,154,229,206,255,9 -MetalShelf_Open_WithProps,154,229,206,255,9 -MetalShelf_Signle,154,229,206,255,9 -Mouse,255,23,23,255,10 -MousePad,255,23,23,255,10 -Mug,255,23,23,255,10 -Mug_WithPens,255,23,23,255,10 -Painting_A,246,188,6,255,12 -Painting_B,246,188,6,255,12 -Painting_C,246,188,6,255,12 -Painting_D,246,188,6,255,12 -Painting_Diploma,246,188,6,255,12 -Painting_E,246,188,6,255,12 -Painting_F,246,188,6,255,12 -Painting_G,246,188,6,255,12 -Painting_Pic,246,188,6,255,12 -PaintingSet_A,246,188,6,255,12 -PaintingSet_B,246,188,6,255,12 -PaintingSet_C,246,188,6,255,12 -PaintingSet_D,246,188,6,255,12 -Paper,255,23,23,255,10 -Paper01,255,23,23,255,10 -Paper02,255,23,23,255,10 -PaperBag01,255,23,23,255,10 -PC,255,23,23,255,10 -Pen,255,23,23,255,10 -Pencil,255,23,23,255,10 -Phone,255,23,23,255,10 -Pipe_Holder,32,32,32,255,0 -PipeLargeCeiling2x,102,0,204,255,4 -PipeLargeCeiling6x,102,0,204,255,4 -Plant_Inside_Large,38,112,233,255,13 -Plant_Inside_Small,38,112,233,255,13 -Sign_Hanging,175,32,45,255,14 -Sink3x,32,32,32,255,0 -Stairs_RailingInside_Loop,32,32,32,255,0 -Stairs_RailingInside_Top,32,32,32,255,0 -Stairs_RailingOutside,32,32,32,255,0 -StairsMod_Ground,32,32,32,255,0 -StairsMod_Loop,32,32,32,255,0 -StairsMod_RailingInside_Loop,32,32,32,255,0 -StairsMod_RailingOutside,32,32,32,255,0 -StairsMod_StepProtectors,32,32,32,255,0 -StairsMod_Top,32,32,32,255,0 -Sticker01,246,188,6,255,12 -Sticker02,246,188,6,255,12 -Sticker03,246,188,6,255,12 -f_avg,35,213,234,255,20 -SMPL_Female_Autonomous,35,213,234,255,20 -SMPL_f,35,213,234,255,20 -m_avg,35,213,234,255,20 -Table_Drawer,54,176,239,255,16 -Table_DrawerSmall,54,176,239,255,16 -Table_Flag,255,23,23,255,10 -Table_Main,54,176,239,255,16 -Table_MeetingWithChairs,54,176,239,255,16 -Table_Office,54,176,239,255,16 -Table_OfficeDrawer,54,176,239,255,16 -TableScreen_A,244,228,69,255,17 -TableScreen_B,244,228,69,255,17 -TableScreen_C,244,228,69,255,17 -TableScreen_C_Glass,244,228,69,255,17 -TableScreen_E,244,228,69,255,17 -TableScreen_E_Glass,244,228,69,255,17 -TableWooden,54,176,239,255,16 -TableWooden_B,54,176,239,255,16 -tesse_multiscene_agent,32,32,32,255,0 -Toilet,32,32,32,255,0 -Toilet_Door,32,32,32,255,0 -Toilet_Paper,32,32,32,255,0 -Toilet_Partition_End,32,32,32,255,0 -Toilet_Partition_Tile,32,32,32,255,0 -ToiletSign,32,32,32,255,0 -Trashcan,154,38,91,255,18 -Trashcan_Metal,154,38,91,255,18 -Urinal,32,32,32,255,0 -Urinal_Partition,32,32,32,255,0 -W_1x,2,103,71,255,19 -W_2x_glass_A,2,103,71,255,19 -W_2x_glass_B,2,103,71,255,19 -W_2x_glass_Door,2,103,71,255,19 -W_2x_glass_DoorDouble,2,103,71,255,19 -W_3x,2,103,71,255,19 -W_3x_Elevator_Door,2,103,71,255,19 -W_6x,2,103,71,255,19 -W_6x_Door,2,103,71,255,19 -W_6x_DoorDouble,2,103,71,255,19 -W_6x_DoorWindow_Large,2,103,71,255,19 -W_6x_Window_Large_B,2,103,71,255,19 -W_6x_Window_MiniDouble,2,103,71,255,19 -W_6x_Window_Small,2,103,71,255,19 -W_ConnectSeam,2,103,71,255,19 -W_Pilar_Large,2,103,71,255,19 -W_Pilar_Small,2,103,71,255,19 -Water_Dispenser,154,38,91,255,18 -Water_DispenserMUG,154,38,91,255,18 -WaterSprinkler,32,32,32,255,0 -WaterSprinklerPipe_3x,32,32,32,255,0 -WaterSprinklerPipe_CornerRight,32,32,32,255,0 -WhiteBoard,246,188,6,255,12 -WhiteBoard_Walll,246,188,6,255,12 -WindowBlinds_A,32,32,32,255,0 -WindowBlinds_B,32,32,32,255,0 -WindowBlinds_Closed,32,32,32,255,0 -WindowBlinds_D,32,32,32,255,0 -Stairs_Unknown,125,218,3,255,15 -Invalid,255,255,255,255,0 +wall,0,102,51,255,0 +building,0,255,0,255,1 +sky,4,74,246,255,2 +floor,191,191,181,255,3 +tree,72,90,13,255,4 +ceiling,204,0,102,255,5 +road,196,26,252,255,6 +bed,254,217,251,255,7 +windowpane,127,255,255,255,8 +grass,133,87,54,255,9 +cabinet,130,26,50,255,10 +sidewalk,10,5,65,255,11 +person,3,75,135,255,12 +earth,18,124,89,255,13 +door,21,182,126,255,14 +table,90,171,130,255,15 +mountain,189,217,119,255,16 +plant,188,63,11,255,17 +curtain,86,82,249,255,18 +chair,196,221,253,255,19 +car,187,78,62,255,20 +water,188,49,167,255,21 +painting,182,161,248,255,22 +sofa,112,201,196,255,23 +shelf,11,41,99,255,24 +house,211,102,1,255,25 +sea,4,227,101,255,26 +mirror,147,201,250,255,27 +rug,255,0,0,255,28 +field,224,33,3,255,29 +armchair,254,74,17,255,30 +seat,255,127,0,255,31 +fence,176,188,66,255,32 +desk,247,29,54,255,33 +rock,74,117,80,255,34 +wardrobe,71,56,199,255,35 +lamp,250,107,216,255,36 +bathtub,4,204,229,255,37 +railing,25,208,53,255,38 +cushion,52,249,65,255,39 +base,70,220,121,255,40 +box,68,86,156,255,41 +column,7,150,36,255,42 +signboard,255,127,127,255,43 +chest,64,46,6,255,44 +counter,139,167,123,255,45 +sand,18,165,78,255,46 +sink,157,166,28,255,47 +skyscraper,9,163,248,255,48 +fireplace,191,67,218,255,49 +refrigerator,135,243,61,255,50 +grandstand,81,119,190,255,51 +path,0,126,204,255,52 +stairs,228,73,252,255,53 +runway,227,108,163,255,54 +case,127,255,127,255,55 +pool,50,211,203,255,56 +pillow,3,190,177,255,57 +screen,127,255,0,255,58 +stairway,11,59,10,255,59 +river,108,38,143,255,60 +bridge,243,33,254,255,61 +bookcase,182,106,251,255,62 +blind,120,251,191,255,63 +coffee,145,115,208,255,64 +toilet,48,129,250,255,65 +flower,43,78,65,255,66 +book,73,0,197,255,67 +hill,0,249,143,255,68 +bench,80,160,69,255,69 +countertop,200,252,62,255,70 +stove,127,39,198,255,71 +palm,139,79,186,255,72 +kitchen,155,225,169,255,73 +computer,239,148,63,255,74 +swivel,30,183,5,255,75 +boat,137,90,3,255,76 +bar,49,35,155,255,77 +arcade,242,186,113,255,78 +hovel,127,0,0,255,79 +bus,191,148,1,255,80 +towel,134,147,65,255,81 +light,175,254,104,255,82 +truck,84,183,23,255,83 +tower,12,87,183,255,84 +chandelier,1,20,178,255,85 +awning,185,224,0,255,86 +streetlight,255,255,127,255,87 +booth,44,252,176,255,88 +television,62,186,252,255,89 +airplane,3,253,46,255,90 +dirt,41,208,156,255,91 +apparel,138,94,126,255,92 +pole,32,31,231,255,93 +land,192,120,193,255,94 +bannister,231,66,87,255,95 +escalator,105,0,153,255,96 +ottoman,251,216,190,255,97 +bottle,228,45,198,255,98 +buffet,0,0,255,255,99 +poster,67,234,247,255,100 +stage,156,4,152,255,101 +van,253,219,57,255,102 +ship,183,148,126,255,103 +fountain,246,154,179,255,104 +conveyer,127,127,255,255,105 +canopy,0,255,255,255,106 +washer,225,189,224,255,107 +plaything,47,253,125,255,108 +swimming,47,0,127,255,109 +stool,92,207,58,255,110 +barrel,173,253,235,255,111 +basket,251,78,170,255,112 +waterfall,164,41,91,255,113 +tent,0,127,0,255,114 +bag,65,43,54,255,115 +minibike,196,100,129,255,116 +cradle,143,157,184,255,117 +oven,234,190,2,255,118 +ball,0,234,191,255,119 +food,191,254,179,255,120 +step,149,1,215,255,121 +tank,67,231,11,255,122 +trade,131,195,0,255,123 +microwave,188,121,62,255,124 +pot,70,143,13,255,125 +animal,106,168,230,255,126 +bicycle,231,106,88,255,127 +lake,255,255,0,255,128 +dishwasher,121,54,15,255,129 +screen,127,255,0,255,130 +blanket,248,157,252,255,131 +sculpture,63,7,14,255,132 +hood,146,63,249,255,133 +sconce,185,8,32,255,134 +vase,247,0,223,255,135 +traffic,234,252,199,255,136 +tray,91,29,248,255,137 +ashcan,122,0,89,255,138 +fan,41,99,220,255,139 +pier,28,132,140,255,140 +crt,127,209,111,255,141 +plate,110,54,79,255,142 +monitor,63,68,107,255,143 +bulletin,214,0,171,255,144 +shower,71,9,82,255,145 +radiator,224,187,57,255,146 +glass,253,20,130,255,147 +clock,127,127,0,255,148 +flag,113,132,132,255,149 diff --git a/hydra_ros/launch/datasets/bosch_stretch.launch b/hydra_ros/launch/datasets/bosch_stretch.launch index 75fb78c..18b70d6 100644 --- a/hydra_ros/launch/datasets/bosch_stretch.launch +++ b/hydra_ros/launch/datasets/bosch_stretch.launch @@ -2,9 +2,11 @@ + + - + @@ -12,41 +14,55 @@ - - - + + + - - + - - - - + + + + + + - + + + + + + + - - - + - + + + + + + + + + diff --git a/hydra_ros/rviz/bosch_stretch.rviz b/hydra_ros/rviz/bosch_stretch.rviz index fc61d14..7172f55 100644 --- a/hydra_ros/rviz/bosch_stretch.rviz +++ b/hydra_ros/rviz/bosch_stretch.rviz @@ -8,7 +8,7 @@ Panels: - /TF1 - /Scene Graph1 Splitter Ratio: 0.5 - Tree Height: 1978 + Tree Height: 777 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -26,7 +26,7 @@ Panels: - Class: rviz/Time Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: Image Preferences: PromptSaveOnExit: true Toolbars: @@ -49,6 +49,8 @@ Visualization Manager: Value: true camera_accel_optical_frame: Value: true + camera_aligned_depth_to_color_frame: + Value: true camera_bottom_screw_frame: Value: true camera_color_frame: @@ -125,10 +127,14 @@ Visualization Manager: Value: true link_wrist_yaw: Value: true + map: + Value: true odom: Value: true respeaker_base: Value: true + scanmatcher_frame: + Value: true Marker Alpha: 1 Marker Scale: 1 Name: TF @@ -136,70 +142,75 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - odom: - base_link: - base_imu: - {} - caster_link: - {} - laser: - {} - link_aruco_left_base: - {} - link_aruco_right_base: - {} - link_left_wheel: - {} - link_mast: - link_head: - link_head_pan: - link_head_tilt: - camera_bottom_screw_frame: - camera_link: - camera_accel_frame: - camera_accel_optical_frame: - {} - camera_color_frame: - camera_color_optical_frame: - {} - camera_depth_frame: - camera_depth_optical_frame: - {} - camera_gyro_frame: - camera_gyro_optical_frame: - {} - camera_infra1_frame: - camera_infra1_optical_frame: - {} - camera_infra2_frame: - camera_infra2_optical_frame: - {} - link_lift: - link_arm_l4: - link_arm_l3: - link_arm_l2: - link_arm_l1: - link_arm_l0: - link_aruco_inner_wrist: - {} - link_aruco_top_wrist: + map: + odom: + base_link: + base_imu: + {} + caster_link: + {} + laser: + {} + link_aruco_left_base: + {} + link_aruco_right_base: + {} + link_left_wheel: + {} + link_mast: + link_head: + link_head_pan: + link_head_tilt: + camera_bottom_screw_frame: + camera_link: + camera_accel_frame: + camera_accel_optical_frame: + {} + camera_aligned_depth_to_color_frame: + camera_color_optical_frame: + {} + camera_color_frame: {} - link_wrist_yaw: - link_gripper: - link_grasp_center: - {} - link_gripper_finger_left: - link_gripper_fingertip_left: + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_gyro_frame: + camera_gyro_optical_frame: + {} + camera_infra1_frame: + camera_infra1_optical_frame: + {} + camera_infra2_frame: + camera_infra2_optical_frame: + {} + link_lift: + link_arm_l4: + link_arm_l3: + link_arm_l2: + link_arm_l1: + link_arm_l0: + link_aruco_inner_wrist: + {} + link_aruco_top_wrist: + {} + link_wrist_yaw: + link_gripper: + link_grasp_center: {} - link_gripper_finger_right: - link_gripper_fingertip_right: - {} - link_aruco_shoulder: + link_gripper_finger_left: + link_gripper_fingertip_left: + {} + link_gripper_finger_right: + link_gripper_fingertip_right: + {} + link_aruco_shoulder: + {} + respeaker_base: {} - respeaker_base: + link_right_wheel: {} - link_right_wheel: - {} + scanmatcher_frame: + {} Update Interval: 0 Value: true - Class: rviz/Group @@ -377,11 +388,23 @@ Visualization Manager: Value: false Enabled: true Name: Reconstruction + - 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: raw + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 255; 255; 255 Default Light: true - Fixed Frame: odom + Fixed Frame: map Frame Rate: 30 Name: root Tools: @@ -430,10 +453,12 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 2123 + Height: 1136 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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+ Image: + collapsed: false + QMainWindow State: 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RGB: collapsed: false Selection: @@ -446,6 +471,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 3840 - X: 1920 - Y: 0 + Width: 1920 + X: 0 + Y: 27