Sakthi Sivaraman / cse_190_pa2

Commit 281277a65bf898794a7a2d791a4e2b0530010b53

Authored by Sakthi Sivaraman 2016-04-28 17:19:34 -0700

Exists in master

Updated rviz file

Showing 2 changed files with 30 additions and 14 deletions Side-by-side Diff

rviz/PA2.rviz
scripts/configuration.json

...	...	@@ -7,8 +7,8 @@
7	7	- /Global Options1
8	8	- /Grid1
9	9	- /TF1/Frames1
	10	+ - /LaserScan1
10	11	- /Map1
11		- - /Odometry1
12	12	- /PoseArray1
13	13	- /Map2
14	14	Splitter Ratio: 0.5
...	...	@@ -31,7 +31,7 @@
31	31	Experimental: false
32	32	Name: Time
33	33	SyncMode: 0
34		- SyncSource: ""
	34	+ SyncSource: LaserScan
35	35	Visualization Manager:
36	36	Class: ""
37	37	Displays:
...	...	@@ -64,6 +64,10 @@
64	64	Value: true
65	65	base_link:
66	66	Value: true
	67	+ base_scan:
	68	+ Value: true
	69	+ map:
	70	+ Value: true
67	71	odom:
68	72	Value: true
69	73	Marker Scale: 1
...	...	@@ -72,7 +76,14 @@
72	76	Show Axes: true
73	77	Show Names: false
74	78	Tree:
75		- {}
	79	+ map:
	80	+ base_scan:
	81	+ {}
	82	+ odom:
	83	+ base_footprint:
	84	+ base_link:
	85	+ base_laser_link:
	86	+ {}
76	87	Update Interval: 0
77	88	Value: true
78	89	- Alpha: 1
79	90
80	91
81	92
...	...	@@ -88,19 +99,20 @@
88	99	Color Transformer: Intensity
89	100	Decay Time: 0
90	101	Enabled: true
91		- Invert Rainbow: false
	102	+ Invert Rainbow: true
92	103	Max Color: 255; 255; 255
93	104	Max Intensity: 1
94		- Min Color: 0; 0; 0
	105	+ Min Color: 255; 85; 255
95	106	Min Intensity: 1
96	107	Name: LaserScan
97	108	Position Transformer: XYZ
98	109	Queue Size: 10
99	110	Selectable: true
100	111	Size (Pixels): 3
101		- Size (m): 0.01
	112	+ Size (m): 1
102	113	Style: Flat Squares
103	114	Topic: /base_scan
	115	+ Unreliable: false
104	116	Use Fixed Frame: true
105	117	Use rainbow: true
106	118	Value: true
...	...	@@ -111,6 +123,7 @@
111	123	Enabled: true
112	124	Name: Map
113	125	Topic: /map
	126	+ Unreliable: false
114	127	Value: true
115	128	- Alpha: 1
116	129	Class: rviz/PointStamped
117	130
118	131
...	...	@@ -120,13 +133,14 @@
120	133	Name: PointStamped
121	134	Radius: 0.2
122	135	Topic: /clicked_point
	136	+ Unreliable: false
123	137	Value: true
124	138	- Angle Tolerance: 0.1
125	139	Class: rviz/Odometry
126		- Color: 255; 25; 0
	140	+ Color: 0; 0; 0
127	141	Enabled: true
128		- Keep: 100
129		- Length: 1
	142	+ Keep: 5
	143	+ Length: 5
130	144	Name: Odometry
131	145	Position Tolerance: 0.1
132	146	Topic: /base_pose_ground_truth
...	...	@@ -137,6 +151,7 @@
137	151	Enabled: true
138	152	Name: PoseArray
139	153	Topic: /particlecloud
	154	+ Unreliable: false
140	155	Value: true
141	156	- Alpha: 0.7
142	157	Class: rviz/Map
...	...	@@ -145,6 +160,7 @@
145	160	Enabled: true
146	161	Name: Map
147	162	Topic: /likelihood_field
	163	+ Unreliable: false
148	164	Value: true
149	165	Enabled: true
150	166	Global Options:
...	...	@@ -178,7 +194,7 @@
178	194	Value: false
179	195	Name: Current View
180	196	Near Clip Distance: 0.01
181		- Scale: 2.34715
	197	+ Scale: 1.64976
182	198	Target Frame: base_laser_link
183	199	Value: TopDownOrtho (rviz)
184	200	X: 76.6314
...	...	@@ -190,7 +206,7 @@
190	206	Height: 744
191	207	Hide Left Dock: false
192	208	Hide Right Dock: true
193		- QMainWindow State: 000000ff00000000fd00000004000000000000013c0000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000002540000011a00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050f0000003efc0100000002fb0000000800540069006d006501000000000000050f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003cd0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
	209	+ QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000002540000011a00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050f0000003efc0100000002fb0000000800540069006d006501000000000000050f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000039f0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
194	210	Selection:
195	211	collapsed: false
196	212	Time:

...	...	@@ -21,9 +21,9 @@
21	21	"first_move_sigma_x": 2,
22	22	"first_move_sigma_y": 2,
23	23	"first_move_sigma_angle": 0.08,
24		- "resample_sigma_x": 0.1,
25		- "resample_sigma_y": 0.1,
26		- "resample_sigma_angle": 0.02,
	24	+ "resample_sigma_x": 0.3,
	25	+ "resample_sigma_y": 0.3,
	26	+ "resample_sigma_angle": 0.026,
27	27
28	28	"laser_z_hit": 0.80,
29	29	"laser_z_rand": 0.05,