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Support ros2 Humble.

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This commit is contained in:
uavfly
2025-10-28 18:28:57 +08:00
parent 97b0042e39
commit 5dcf0c4c26
23 changed files with 1432 additions and 957 deletions
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490
rviz_cfg/loam_livox.rviz
View File

@@ -1,356 +1,318 @@
Panels:
- Class: rviz/Displays
Help Height: 0
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Axes1
- /mapping1
- /mapping1/surround1
- /mapping1/currPoints1
- /mapping1/currPoints1/Autocompute Value Bounds1
- /Odometry1/Odometry1
- /Odometry1/Odometry1/Shape1
- /Odometry1/Odometry1/Covariance1
- /Odometry1/Odometry1/Covariance1/Position1
- /Odometry1/Odometry1/Covariance1/Orientation1
- /MarkerArray1/Namespaces1
Splitter Ratio: 0.6432291865348816
Tree Height: 1297
- Class: rviz/Selection
- /Status1
Splitter Ratio: 0.5
Tree Height: 549
- Class: rviz_common/Selection
Name: Selection
- Class: rviz/Tool Properties
- Class: rviz_common/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: surround
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
SyncSource: CloudRegistered
Visualization Manager:
Class: ""
Displays:
- Alpha: 1
Cell Size: 1000
Class: rviz/Grid
Color: 160; 160; 164
Enabled: false
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 40
Reference Frame: <Fixed Frame>
Value: false
- Alpha: 1
Class: rviz/Axes
- Class: rviz_default_plugins/TF
Enabled: true
Length: 0.699999988079071
Name: Axes
Radius: 0.05999999865889549
Reference Frame: body
Show Trail: false
Frame Timeout: 15
Frames:
All Enabled: true
aft_mapped:
Value: true
base_footprint:
Value: true
base_link:
Value: true
camera_init:
Value: true
camera_link:
Value: true
gyro_link:
Value: true
laser:
Value: true
left_front_link:
Value: true
left_wheel_link:
Value: true
map:
Value: true
odom_combined:
Value: true
right_front_link:
Value: true
right_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
camera_init:
aft_mapped:
{}
Update Interval: 0
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 238; 238; 236
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 238; 238; 236
Name: surround
Position Transformer: XYZ
Queue Size: 1
Selectable: false
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Points
Topic: /cloud_registered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
- Alpha: 0.10000000149011612
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 15
Min Value: -5
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 1000
Enabled: true
Invert Rainbow: true
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: currPoints
Position Transformer: XYZ
Queue Size: 100000
Selectable: true
Size (Pixels): 1
Size (m): 0.009999999776482582
Style: Points
Topic: /cloud_registered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /Laser_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: true
Name: mapping
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.009999999776482582
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: Odometry
Position Tolerance: 0.0010000000474974513
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.20000000298023224
Color: 255; 85; 0
Head Length: 0
Head Radius: 0
Shaft Length: 0.05000000074505806
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /Odometry
Unreliable: false
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 100
Name: Odometry
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 0.699999988079071
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Show Trail: false
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /Odometry
Value: true
- Alpha: 0
Buffer Length: 2
Class: rviz/Path
Color: 25; 255; 255
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0
Head Length: 0
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.20000000298023224
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 25; 255; 255
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.4000000059604645
Shaft Length: 0.4000000059604645
Topic: /path
Unreliable: false
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /path
Value: true
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.8584054708480835
Min Value: -0.10289539396762848
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 30
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 186
Min Color: 0; 0; 0
Min Intensity: 0
Name: CloudRegistered
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /cloud_registered
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 239; 41; 41
Max Intensity: 0
Min Color: 239; 41; 41
Max Color: 255; 255; 255
Max Intensity: 184
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Name: CloudEffected
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.30000001192092896
Style: Spheres
Topic: /cloud_effected
Unreliable: false
Size (Pixels): 3
Size (m): 0.019999999552965164
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /cloud_effected
Use Fixed Frame: true
Use rainbow: true
Value: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 13.139549255371094
Min Value: -32.08251953125
Max Value: 2.036320447921753
Min Value: -0.09378375858068466
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 138; 226; 52
Color Transformer: FlatColor
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 138; 226; 52
Min Color: 138; 226; 52
Name: PointCloud2
Max Color: 255; 255; 255
Max Intensity: 255
Min Color: 0; 0; 0
Min Intensity: 0
Name: CloudMap
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Size (m): 0.019999999552965164
Style: Flat Squares
Topic: /Laser_map
Unreliable: false
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /Laser_map
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /MarkerArray
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: camera_init
Frame Rate: 10
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- 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
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic: /clicked_point
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 100.72154235839844
Class: rviz_default_plugins/Orbit
Distance: 28.403661727905273
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 34.07209014892578
Y: -2.53304386138916
Z: -8.43538761138916
X: -2.2604103088378906
Y: -0.3224470913410187
Z: 0.9725424647331238
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.06979652494192123
Target Frame: global
Yaw: 4.245370388031006
Pitch: 0.7497965693473816
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 1.7503817081451416
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1536
Height: 846
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001c80000054efc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000054e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b800000052fc0100000002fb0000000800540069006d00650100000000000009b8000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000007ea0000054e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ad0000003efc0100000002fb0000000800540069006d00650100000000000005ad000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000451000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -358,7 +320,7 @@ Window Geometry:
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2488
X: 72
Y: 27
collapsed: false
Width: 1453
X: 2404
Y: 218