Update collision_monitor settings

rt-net · Nov 29, 2024 · c5a7597 · c5a7597
1 parent a72ab8a
commit c5a7597
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Showing 2 changed files with 60 additions and 21 deletions.
diff --git 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
@@ -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
@@ -105,23 +108,28 @@ 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
       Value: true
       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
@@ -281,13 +293,16 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Best Effort
         Value: /particlecloud
       Value: true
     - 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: <Fixed 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
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000039efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002cf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e002000320100000312000000c9000000b700fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005c80000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000395fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000197000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001dc000001f8000001e300fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005ce0000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1848
-  X: 72
-  Y: 27
+  Width: 1854
+  X: 66
+  Y: 32