From c5a75972642e69c68c02abc49e7f8f39295929f1 Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Fri, 29 Nov 2024 11:52:16 +0900 Subject: [PATCH] Update collision_monitor settings --- raspimouse_navigation/params/raspimouse.yaml | 19 +++--- raspimouse_navigation/rviz/nav2_view.rviz | 62 ++++++++++++++++---- 2 files changed, 60 insertions(+), 21 deletions(-) diff --git a/raspimouse_navigation/params/raspimouse.yaml b/raspimouse_navigation/params/raspimouse.yaml index b2263c1b..eb73675a 100644 --- a/raspimouse_navigation/params/raspimouse.yaml +++ b/raspimouse_navigation/params/raspimouse.yaml @@ -217,15 +217,16 @@ behavior_server: collision_monitor: ros__parameters: enable_stamped_cmd_vel: True - transform_tolerance: 0.1 - source_timeout: 5.0 - stop_pub_timeout: 2.0 - base_shift_correction: False - polygons: ["DummyPolygon"] - DummyPolygon: - type: "circle" - radius: 0.0 # valid range of dummy - action_type: "none" # No action taken. + stop_pub_timeout: 1.0 + polygons: ["SlowdownPolygon"] + SlowdownPolygon: + type: "polygon" + points: "[[0.1, 0.09], [0.1, -0.09], [-0.1, -0.09], [-0.1, 0.09]]" + action_type: "slowdown" + slowdown_ratio: 0.5 # 本来の速度の半分に制限 + min_points: 10 + visualize: True + polygon_pub_topic: "slowdown_polygon" observation_sources: ["scan"] scan: type: "scan" diff --git a/raspimouse_navigation/rviz/nav2_view.rviz b/raspimouse_navigation/rviz/nav2_view.rviz index 728f2931..14089509 100644 --- a/raspimouse_navigation/rviz/nav2_view.rviz +++ b/raspimouse_navigation/rviz/nav2_view.rviz @@ -7,8 +7,11 @@ Panels: - /Global Options1 - /TF1/Frames1 - /TF1/Tree1 + - /Polygon1 + - /Polygon1/Status1 + - /Polygon1/Topic1 Splitter Ratio: 0.5833333134651184 - Tree Height: 658 + Tree Height: 343 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -105,16 +108,19 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - rplidar_multi_mount_link: + rs_lightsensor_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - rs_lightsensor_link: + urg_mount_link: Alpha: 1 Show Axes: false Show Trail: false Value: true + Mass Properties: + Inertia: false + Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 @@ -122,6 +128,8 @@ Visualization Manager: Visual Enabled: true - Class: rviz_default_plugins/TF Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false @@ -147,10 +155,10 @@ Visualization Manager: Value: true right_wheel: Value: true - rplidar_multi_mount_link: - Value: true rs_lightsensor_link: Value: true + urg_mount_link: + Value: true Marker Scale: 1 Name: TF Show Arrows: true @@ -174,7 +182,7 @@ Visualization Manager: {} right_wheel: {} - rplidar_multi_mount_link: + urg_mount_link: laser: {} Update Interval: 0 @@ -206,6 +214,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /scan @@ -246,6 +255,8 @@ Visualization Manager: Use rainbow: true Value: true - Alpha: 1 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: true @@ -254,6 +265,7 @@ Visualization Manager: Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map @@ -281,6 +293,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /particlecloud @@ -288,6 +301,8 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: false @@ -296,6 +311,7 @@ Visualization Manager: Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/costmap @@ -308,6 +324,8 @@ Visualization Manager: Use Timestamp: false Value: true - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: false @@ -316,6 +334,7 @@ Visualization Manager: Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /downsampled_costmap @@ -350,6 +369,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /plan @@ -381,6 +401,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/voxel_marked_cloud @@ -395,6 +416,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/published_footprint @@ -413,6 +435,19 @@ Visualization Manager: Reliability Policy: Reliable Value: /waypoints Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /slowdown_polygon + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -426,6 +461,9 @@ Visualization Manager: - 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 @@ -457,7 +495,7 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 180.8179168701172 + Scale: 568.2567138671875 Target Frame: Value: TopDownOrtho (rviz_default_plugins) X: -0.044467076659202576 @@ -466,18 +504,18 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1016 + Height: 1011 Hide Left Dock: false Hide Right Dock: true Navigation 2: collapsed: false - 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