mapped 1st floor home - rooms messy (#38)

atticusrussell · Oct 27, 2023 · b4d3c39 · b4d3c39
1 parent 71f56cc
commit b4d3c39
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Showing 5 changed files with 80 additions and 32 deletions.
diff --git a/src/brobot_navigation/maps/first_floor_messy.pgm b/src/brobot_navigation/maps/first_floor_messy.pgm
diff --git a/src/brobot_navigation/maps/first_floor_messy.yaml b/src/brobot_navigation/maps/first_floor_messy.yaml
@@ -0,0 +1,7 @@
+image: first_floor_messy.pgm
+mode: trinary
+resolution: 0.05
+origin: [-3.4, -5.55, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
diff --git a/src/brobot_navigation/maps/first_floor_partial.pgm b/src/brobot_navigation/maps/first_floor_partial.pgm
diff --git a/src/brobot_navigation/maps/first_floor_partial.yaml b/src/brobot_navigation/maps/first_floor_partial.yaml
@@ -0,0 +1,7 @@
+image: first_floor_partial.pgm
+mode: trinary
+resolution: 0.05
+origin: [-3.32, -5.51, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
diff --git a/src/brobot_navigation/rviz/brobot_slam.rviz b/src/brobot_navigation/rviz/brobot_slam.rviz
@@ -6,8 +6,11 @@ Panels:
       Expanded:
         - /Global Options1
         - /RobotModel1/Description Topic1
+        - /Map1
+        - /Image1
+        - /Image1/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 613
+    Tree Height: 563
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -46,29 +49,31 @@ Visualization Manager:
       Enabled: true
       Frame Timeout: 15
       Frames:
-        All Enabled: true
+        All Enabled: false
         base_footprint:
           Value: true
         base_link:
-          Value: true
+          Value: false
         camera_link:
-          Value: true
+          Value: false
+        camera_link_optical:
+          Value: false
         front_left_wheel_link:
-          Value: true
+          Value: false
         front_right_wheel_link:
-          Value: true
+          Value: false
         imu_link:
-          Value: true
+          Value: false
         laser:
-          Value: true
+          Value: false
         map:
           Value: true
         odom:
           Value: true
         rear_left_wheel_link:
-          Value: true
+          Value: false
         rear_right_wheel_link:
-          Value: true
+          Value: false
       Marker Scale: 0.5
       Name: TF
       Show Arrows: true
@@ -80,22 +85,23 @@ Visualization Manager:
             base_footprint:
               base_link:
                 camera_link:
+                  camera_link_optical:
+                    {}
+                front_left_wheel_link:
+                  {}
+                front_right_wheel_link:
                   {}
                 imu_link:
                   {}
                 laser:
                   {}
-              front_left_wheel_link:
-                {}
-              front_right_wheel_link:
-                {}
-              rear_left_wheel_link:
-                {}
-              rear_right_wheel_link:
-                {}
+                rear_left_wheel_link:
+                  {}
+                rear_right_wheel_link:
+                  {}
       Update Interval: 0
       Value: true
-    - Alpha: 1
+    - Alpha: 0.6000000238418579
       Class: rviz_default_plugins/RobotModel
       Collision Enabled: false
       Description File: ""
@@ -127,6 +133,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera_link_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         front_left_wheel_link:
           Alpha: 1
           Show Axes: false
@@ -156,12 +166,15 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
-    - Alpha: 0.4000000059604645
+    - Alpha: 0.6000000238418579
       Class: rviz_default_plugins/Map
       Color Scheme: map
       Draw Behind: false
@@ -170,6 +183,7 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /map
@@ -184,8 +198,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 10.362611770629883
-        Min Value: -0.29685065150260925
+        Max Value: 3.4498958587646484
+        Min Value: -2.483412742614746
         Value: true
       Axis: X
       Channel Name: intensity
@@ -203,17 +217,32 @@ Visualization Manager:
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.10000000149011612
+      Size (m): 0.019999999552965164
       Style: Flat Squares
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/image_raw/compressed
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 117; 135; 133
@@ -229,6 +258,9 @@ 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
@@ -256,7 +288,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: 0
+      Angle: -1.9799948930740356
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -266,25 +298,27 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 32.17724609375
+      Scale: 134.3465118408203
       Target Frame: base_link
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -1.7143195867538452
-      Y: 1.3631300926208496
+      X: -0.3505239486694336
+      Y: -0.30422264337539673
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 842
+  Height: 1043
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e005200650061006c00730065006e0073006500430061006d0065007200610000000000ffffffff0000000000000000000000010000023e00000416fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000416000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000420000002f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003b9fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002be000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e005200650061006c00730065006e0073006500430061006d0065007200610000000000ffffffff0000000000000000fb0000000a0049006d0061006700650100000301000000f50000002800ffffff000000010000023e00000416fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000416000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000624000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1404
-  X: 263
-  Y: 213
+  Width: 1920
+  X: 0
+  Y: 0