From 53cce42c47c448fe8b7f227846493cba24d1b5ba Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Wed, 18 Dec 2024 17:46:08 +0100 Subject: [PATCH] Suggestions to diff_drive example (#676) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- ros_gz_sim_demos/launch/diff_drive.launch.xml | 4 +- ros_gz_sim_demos/rviz/diff_drive.rviz | 78 ++++++++++++++++--- 2 files changed, 70 insertions(+), 12 deletions(-) diff --git a/ros_gz_sim_demos/launch/diff_drive.launch.xml b/ros_gz_sim_demos/launch/diff_drive.launch.xml index 20af9e64..c09bab7f 100644 --- a/ros_gz_sim_demos/launch/diff_drive.launch.xml +++ b/ros_gz_sim_demos/launch/diff_drive.launch.xml @@ -11,7 +11,7 @@ - - + + diff --git a/ros_gz_sim_demos/rviz/diff_drive.rviz b/ros_gz_sim_demos/rviz/diff_drive.rviz index c505e100..a43e216a 100644 --- a/ros_gz_sim_demos/rviz/diff_drive.rviz +++ b/ros_gz_sim_demos/rviz/diff_drive.rviz @@ -6,8 +6,9 @@ Panels: Expanded: - /Global Options1 - /Odometry1 + - /Odometry2 Splitter Ratio: 0.5 - Tree Height: 688 + Tree Height: 701 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -23,6 +24,24 @@ Panels: Visualization Manager: Class: "" Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/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 - Angle Tolerance: 0.10000000149011612 Class: rviz_default_plugins/Odometry Covariance: @@ -62,6 +81,45 @@ Visualization Manager: Reliability Policy: Reliable Value: /model/vehicle_blue/odometry Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /model/vehicle_green/odometry + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -106,25 +164,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 68.66040802001953 + Distance: 21.00491714477539 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -1.2689772844314575 - Y: 10.203336715698242 - Z: -2.8907392024993896 + X: -0.4080231189727783 + Y: 0.40098077058792114 + Z: 2.436375617980957 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 1.5697963237762451 + Pitch: 0.5847957730293274 Target Frame: Value: Orbit (rviz) - Yaw: 0.8253979682922363 + Yaw: 0.4803982973098755 Saved: ~ Window Geometry: Displays: @@ -132,7 +190,7 @@ Window Geometry: Height: 846 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000023d000002f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002f0000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026d000002f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000023d000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000026d000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: @@ -140,5 +198,5 @@ Window Geometry: Views: collapsed: false Width: 1200 - X: 325 - Y: 158 + X: 554 + Y: 154