diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 88304096..dd933d90 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -39,7 +39,8 @@ "mounts": [ "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached", - "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached" + "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached", + "source=${localWorkspaceFolder}/foxglove/layout_perception_msgs_transformtree.json,target=/tmp/layout_perception_msgs_transformtree.json,type=bind" ], "postCreateCommand": ". .devcontainer/setup.sh && sudo rosdep update --rosdistro=jazzy && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=jazzy && sudo chown -R $(whoami) /home/ros2_ws/ && (rm -r build/ || true) && colcon build --symlink-install", "forwardPorts": [8765] diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json index 22958292..e3db865c 100644 --- a/.devcontainer/nvidia/devcontainer.json +++ b/.devcontainer/nvidia/devcontainer.json @@ -53,7 +53,8 @@ "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached", "source=/usr/lib/wsl,target=/usr/lib/wsl,type=bind,consistency=cached", "source=/usr/lib/x86_64-linux-gnu/dri,target=/usr/lib/x86_64-linux-gnu/dri,type=bind,consistency=cached", - "source=//usr/share/glvnd,target=/usr/share/glvnd,type=bind,consistency=cached" + "source=//usr/share/glvnd,target=/usr/share/glvnd,type=bind,consistency=cached", + "source=${localWorkspaceFolder}/foxglove/layout_perception_msgs_transformtree.json,target=/tmp/layout_perception_msgs_transformtree.json,type=bind" ], "postCreateCommand": ". .devcontainer/setup.sh && sudo rosdep update --rosdistro=jazzy && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=jazzy && sudo chown -R $(whoami) /home/ros2_ws/ && (rm -r build/ || true) && colcon build --symlink-install", "forwardPorts": [8765] diff --git a/foxglove/layout_perception_msgs_transformtree.json b/foxglove/layout_perception_msgs_transformtree.json new file mode 100644 index 00000000..19301d0f --- /dev/null +++ b/foxglove/layout_perception_msgs_transformtree.json @@ -0,0 +1,463 @@ +{ + "configById": { + "3D!176gasr": { + "cameraState": { + "perspective": true, + "distance": 19.999999999999883, + "phi": 60.000000000000135, + "thetaOffset": 60.00000000000052, + "targetOffset": [ + 0.5488292821440887, + 0.05513627025435337, + -1.2391132342990392e-16 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": {}, + "layers": { + "grid": { + "visible": true, + "drawBehind": false, + "label": "Grid", + "instanceId": "b7da07fc-d8ec-4780-b418-cf144cc5e704", + "layerId": "foxglove.Grid", + "size": 10, + "divisions": 10, + "lineWidth": 1, + "color": "#248eff", + "position": [ + 0, + 0, + 0 + ], + "rotation": [ + 0, + 0, + 0 + ] + } + }, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {} + }, + "Image!2gmti89": { + "cameraState": { + "distance": 20, + "perspective": true, + "phi": 60, + "target": [ + 0, + 0, + 0 + ], + "targetOffset": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "thetaOffset": 60, + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": {}, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": { + "imageTopic": "/camera/camera/color/image_raw" + } + }, + "Image!1agofxm": { + "cameraState": { + "distance": 20, + "perspective": true, + "phi": 60, + "target": [ + 0, + 0, + 0 + ], + "targetOffset": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "thetaOffset": 60, + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": {}, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": { + "imageTopic": "/camera/camera/depth/image_rect_raw", + "calibrationTopic": "/camera/camera/depth/camera_info" + } + }, + "map!eao35e": { + "zoomLevel": 19 + }, + "RawMessages!293aqe": { + "topicPath": "/diagnostics" + }, + "RawMessages!1wb9sda": { + "topicPath": "/parameter_events" + }, + "RawMessages!44i2mde": { + "topicPath": "/navsat" + }, + "RawMessages!26z4oxi": { + "topicPath": "/odom" + }, + "TransformTree!zhlxaf": {}, + "Tab!1u1usje": { + "tabs": [ + { + "title": "Perception", + "layout": { + "first": "3D!176gasr", + "second": { + "first": { + "first": "Image!2gmti89", + "second": "Image!1agofxm", + "direction": "row" + }, + "second": "map!eao35e", + "direction": "column" + }, + "direction": "row" + } + }, + { + "title": "Messages", + "layout": { + "first": { + "first": "RawMessages!293aqe", + "second": "RawMessages!1wb9sda", + "direction": "column" + }, + "second": { + "first": "RawMessages!44i2mde", + "second": "RawMessages!26z4oxi", + "direction": "column" + }, + "direction": "row" + } + }, + { + "title": "Transform Tree", + "layout": "TransformTree!zhlxaf" + }, + { + "title": "ZED Debug", + "layout": { + "first": { + "first": "Image!3uo4taw", + "second": { + "first": "Image!j4xzm2", + "second": "DiagnosticStatusPanel!1oq3v6x", + "direction": "row", + "splitPercentage": 39.62264150943397 + }, + "direction": "row", + "splitPercentage": 28.4478616049976 + }, + "second": "3D!j4ftra", + "direction": "column", + "splitPercentage": 27.31958762886598 + } + } + ], + "activeTabIdx": 2 + }, + "Image!3uo4taw": { + "cameraState": { + "distance": 20, + "perspective": true, + "phi": 60, + "target": [ + 0, + 0, + 0 + ], + "targetOffset": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "thetaOffset": 45, + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": {}, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": { + "imageTopic": "/zed/zed_node/rgb/color/rect/image/compressed" + } + }, + "Image!j4xzm2": { + "cameraState": { + "distance": 20, + "perspective": true, + "phi": 60, + "target": [ + 0, + 0, + 0 + ], + "targetOffset": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "thetaOffset": 45, + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": {}, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": { + "imageTopic": "/zed/zed_node/depth/depth_registered", + "calibrationTopic": "/zed/zed_node/depth/camera_info" + } + }, + "DiagnosticStatusPanel!1oq3v6x": { + "topicToRender": "/diagnostics", + "selectedHardwareId": "Stereolabs ZED X - 'zed' - S/N: 40976320", + "selectedName": "zed_node: zed" + }, + "3D!j4ftra": { + "cameraState": { + 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"visible": true + } + }, + "topics": { + "/zed/zed_node/point_cloud/cloud_registered": { + "visible": true, + "colorField": "rgb", + "colorMode": "rgb", + "colorMap": "turbo", + "pointSize": 3 + }, + "/zed/zed_node/pose": { + "visible": false + }, + "/zed/zed_node/path_map": { + "visible": true, + "lineWidth": 0.02, + "gradient": [ + "#bbe124ff", + "#bbe02480" + ] + }, + "/zed/zed_node/left/gray/rect/image/compressed": { + "visible": false + }, + "/zed/zed_node/left/color/rect/image/compressed": { + "visible": true, + "cameraInfoTopic": "/zed/zed_node/left/camera_info", + "distance": 1 + }, + "/zed/zed_node/left/camera_info": { + "visible": true + } + }, + "layers": { + "grid": { + "visible": true, + "frameLocked": true, + "label": "Grid", + "instanceId": "f40f42ae-9bf3-4640-8aa9-8b9747a3689b", + "layerId": "foxglove.Grid", + "size": 6, + "divisions": 6, + "lineWidth": 1, + "color": "#bbe124ff", + "position": [ + 0, + 0, + -0.5 + ], + "rotation": [ + 0, + 0, + 0 + ] + } + }, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {}, + "followTf": "zed_camera_link" + } + }, + "globalVariables": {}, + "userNodes": {}, + "playbackConfig": { + "speed": 1 + }, + "layout": "Tab!1u1usje" +} \ No newline at end of file