From 608a15fe2a343031570d6d664fc09745db324c17 Mon Sep 17 00:00:00 2001 From: Etienne Date: Mon, 15 Nov 2021 21:48:41 -0500 Subject: [PATCH] Removed Teleop pluggin in Rviz - The teleop pluggin issues null cmd vel all the time even when the move_base is moving around. It has the behavior to slow down the behavior move_base and prevent it to working correctly --- .../config/local_costmap_params.yaml | 2 +- .../rviz/agent_1_config.rviz | 29 ++++++------------- .../rviz/agent_1_config_rtabmap.rviz | 5 ---- .../rviz/pioneer_1_config.rviz | 5 ---- .../rviz/pioneer_1_config_rtabmap.rviz | 5 ---- .../rviz/pioneer_2_config.rviz | 5 ---- .../rviz/pioneer_2_config_rtabmap.rviz | 5 ---- 7 files changed, 10 insertions(+), 46 deletions(-) diff --git a/src/swarmus_ros_navigation/config/local_costmap_params.yaml b/src/swarmus_ros_navigation/config/local_costmap_params.yaml index 6ee4cda8..a9811fed 100644 --- a/src/swarmus_ros_navigation/config/local_costmap_params.yaml +++ b/src/swarmus_ros_navigation/config/local_costmap_params.yaml @@ -7,7 +7,7 @@ local_costmap: rolling_window: true width: 6.0 height: 6.0 - resolution: 0.05 + resolution: 0.025 transform_tolerance: 0.5 plugins: diff --git a/src/swarmus_ros_navigation/rviz/agent_1_config.rviz b/src/swarmus_ros_navigation/rviz/agent_1_config.rviz index de302974..ded031b6 100644 --- a/src/swarmus_ros_navigation/rviz/agent_1_config.rviz +++ b/src/swarmus_ros_navigation/rviz/agent_1_config.rviz @@ -8,14 +8,12 @@ Panels: - /TF1/Frames1 - /TF1/Tree1 Splitter Ratio: 0.632478654384613 - Tree Height: 400 + Tree Height: 543 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views @@ -28,9 +26,6 @@ Panels: Name: Time SyncMode: 0 SyncSource: LaserScan - - Class: rviz_plugin_tutorials/Teleop - Name: Teleop - Topic: /agent_1/cmd_vel Preferences: PromptSaveOnExit: true Toolbars: @@ -206,9 +201,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0 Min Color: 0; 0; 0 - Min Intensity: 0 Name: LaserScan Position Transformer: XYZ Queue Size: 10 @@ -236,9 +229,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 @@ -355,9 +346,7 @@ Visualization Manager: Enabled: false Invert Rainbow: true Max Color: 0; 0; 0 - Max Intensity: 8.380000114440918 Min Color: 255; 255; 255 - Min Intensity: 0 Name: cost_grid_pc Position Transformer: XYZ Queue Size: 10 @@ -424,7 +413,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.7222402095794678 + Distance: 0.031180454418063164 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -432,17 +421,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.7878418564796448 - Y: -4.102602005004883 - Z: 2.6452548503875732 + X: -5.169564723968506 + Y: 2.2844078540802 + Z: 4.677812576293945 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.8647967576980591 + Pitch: 1.2297964096069336 Target Frame: - Yaw: 4.543134689331055 + Yaw: 4.193129062652588 Saved: ~ Window Geometry: Displays: @@ -452,7 +441,7 @@ Window Geometry: Hide Right Dock: true Kinect: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000002160000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d000000860000005c00fffffffb000000100044006900730070006c00610079007301000000c90000021b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007001000002ea000000ad0000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000051c0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002370000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d000000aa0000005c00fffffffb000000100044006900730070006c00610079007301000000ed000002aa000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007000000002ea000000ad0000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004fb0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Teleop: @@ -464,5 +453,5 @@ Window Geometry: Views: collapsed: true Width: 1848 - X: 72 + X: 1992 Y: 27 diff --git a/src/swarmus_ros_navigation/rviz/agent_1_config_rtabmap.rviz b/src/swarmus_ros_navigation/rviz/agent_1_config_rtabmap.rviz index 2f842e99..99944b92 100644 --- a/src/swarmus_ros_navigation/rviz/agent_1_config_rtabmap.rviz +++ b/src/swarmus_ros_navigation/rviz/agent_1_config_rtabmap.rviz @@ -30,9 +30,6 @@ Panels: Name: Time SyncMode: 0 SyncSource: LaserScan - - Class: rviz_plugin_tutorials/Teleop - Name: Teleop - Topic: /agent_1/cmd_vel Preferences: PromptSaveOnExit: true Toolbars: @@ -465,8 +462,6 @@ Window Geometry: QMainWindow State: 000000ff00000000fd0000000400000000000002690000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d0000009d0000005c00fffffffb000000100044006900730070006c00610079007301000000e000000201000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007001000002e7000000b00000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false - Teleop: - collapsed: false Time: collapsed: false Tool Properties: diff --git a/src/swarmus_ros_navigation/rviz/pioneer_1_config.rviz b/src/swarmus_ros_navigation/rviz/pioneer_1_config.rviz index f9d6a17b..2371b5be 100644 --- a/src/swarmus_ros_navigation/rviz/pioneer_1_config.rviz +++ b/src/swarmus_ros_navigation/rviz/pioneer_1_config.rviz @@ -30,9 +30,6 @@ Panels: Name: Time SyncMode: 0 SyncSource: LaserScan - - Class: rviz_plugin_tutorials/Teleop - Name: Teleop - Topic: /pioneer_1/cmd_vel Preferences: PromptSaveOnExit: true Toolbars: @@ -736,8 +733,6 @@ Window Geometry: QMainWindow State: 000000ff00000000fd0000000400000000000002690000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d0000009d0000005c00fffffffb000000100044006900730070006c00610079007301000000e000000201000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007001000002e7000000b00000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false - Teleop: - collapsed: false Time: collapsed: false Tool Properties: diff --git a/src/swarmus_ros_navigation/rviz/pioneer_1_config_rtabmap.rviz b/src/swarmus_ros_navigation/rviz/pioneer_1_config_rtabmap.rviz index 03622f74..42e09c51 100644 --- a/src/swarmus_ros_navigation/rviz/pioneer_1_config_rtabmap.rviz +++ b/src/swarmus_ros_navigation/rviz/pioneer_1_config_rtabmap.rviz @@ -30,9 +30,6 @@ Panels: Name: Time SyncMode: 0 SyncSource: LaserScan - - Class: rviz_plugin_tutorials/Teleop - Name: Teleop - Topic: /pioneer_1/cmd_vel Preferences: PromptSaveOnExit: true Toolbars: @@ -465,8 +462,6 @@ Window Geometry: QMainWindow State: 000000ff00000000fd0000000400000000000002690000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d0000009d0000005c00fffffffb000000100044006900730070006c00610079007301000000e000000201000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007001000002e7000000b00000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false - Teleop: - collapsed: false Time: collapsed: false Tool Properties: diff --git a/src/swarmus_ros_navigation/rviz/pioneer_2_config.rviz b/src/swarmus_ros_navigation/rviz/pioneer_2_config.rviz index 8b1ce2fe..2368ff9a 100644 --- a/src/swarmus_ros_navigation/rviz/pioneer_2_config.rviz +++ b/src/swarmus_ros_navigation/rviz/pioneer_2_config.rviz @@ -30,9 +30,6 @@ Panels: Name: Time SyncMode: 0 SyncSource: LaserScan - - Class: rviz_plugin_tutorials/Teleop - Name: Teleop - Topic: /pioneer_2/cmd_vel Preferences: PromptSaveOnExit: true Toolbars: @@ -736,8 +733,6 @@ Window Geometry: QMainWindow State: 000000ff00000000fd0000000400000000000002690000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d0000009d0000005c00fffffffb000000100044006900730070006c00610079007301000000e000000201000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007001000002e7000000b00000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false - Teleop: - collapsed: false Time: collapsed: false Tool Properties: diff --git a/src/swarmus_ros_navigation/rviz/pioneer_2_config_rtabmap.rviz b/src/swarmus_ros_navigation/rviz/pioneer_2_config_rtabmap.rviz index 64435809..475a0065 100644 --- a/src/swarmus_ros_navigation/rviz/pioneer_2_config_rtabmap.rviz +++ b/src/swarmus_ros_navigation/rviz/pioneer_2_config_rtabmap.rviz @@ -30,9 +30,6 @@ Panels: Name: Time SyncMode: 0 SyncSource: LaserScan - - Class: rviz_plugin_tutorials/Teleop - Name: Teleop - Topic: /pioneer_2/cmd_vel Preferences: PromptSaveOnExit: true Toolbars: @@ -465,8 +462,6 @@ Window Geometry: QMainWindow State: 000000ff00000000fd0000000400000000000002690000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c004b0069006e006500630074000000003d000000390000001600fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003d0000009d0000005c00fffffffb000000100044006900730070006c00610079007301000000e000000201000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e006500630074010000029f000000840000000000000000fb0000000c00540065006c0065006f007001000002e7000000b00000004700ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false - Teleop: - collapsed: false Time: collapsed: false Tool Properties: