From d6dd493d94f3e97a7d3195adf95ff229bcfbf57d Mon Sep 17 00:00:00 2001 From: Joanna-HE Date: Mon, 20 May 2024 04:53:15 -0400 Subject: [PATCH] modify rviz presentation --- rviz_cfg/loam_livox.rviz | 15 +++++++-------- src/laserMapping.cpp | 12 ++++++------ 2 files changed, 13 insertions(+), 14 deletions(-) diff --git a/rviz_cfg/loam_livox.rviz b/rviz_cfg/loam_livox.rviz index c99ca7e..8cf6ece 100755 --- a/rviz_cfg/loam_livox.rviz +++ b/rviz_cfg/loam_livox.rviz @@ -17,7 +17,7 @@ Panels: - /Odometry1/Odometry1/Covariance1/Orientation1 - /MarkerArray1/Namespaces1 Splitter Ratio: 0.6432291865348816 - Tree Height: 777 + Tree Height: 1297 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -33,7 +33,6 @@ Panels: Name: Views Splitter Ratio: 0.5 - Class: rviz/Time - Experimental: false Name: Time SyncMode: 0 SyncSource: surround @@ -68,7 +67,7 @@ Visualization Manager: Length: 0.699999988079071 Name: Axes Radius: 0.05999999865889549 - Reference Frame: aft_mapped + Reference Frame: body Show Trail: false Value: true - Class: rviz/Group @@ -347,11 +346,11 @@ Visualization Manager: Saved: ~ Window Geometry: Displays: - collapsed: true - Height: 1016 - Hide Left Dock: true + collapsed: false + Height: 1536 + Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001c800000346fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000346000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073800000052fc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007380000034600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001c80000054efc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000054e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b800000052fc0100000002fb0000000800540069006d00650100000000000009b8000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000007ea0000054e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -360,6 +359,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1848 + Width: 2488 X: 72 Y: 27 diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp index e3f01c3..467994e 100755 --- a/src/laserMapping.cpp +++ b/src/laserMapping.cpp @@ -271,7 +271,7 @@ void set_posestamp(T & out) void publish_odometry(const ros::Publisher & pubOdomAftMapped) { odomAftMapped.header.frame_id = "camera_init"; - odomAftMapped.child_frame_id = "aft_mapped"; + odomAftMapped.child_frame_id = "body"; if (publish_odometry_without_downsample) { odomAftMapped.header.stamp = ros::Time().fromSec(time_current); @@ -295,7 +295,7 @@ void publish_odometry(const ros::Publisher & pubOdomAftMapped) q.setY(odomAftMapped.pose.pose.orientation.y); q.setZ(odomAftMapped.pose.pose.orientation.z); transform.setRotation( q ); - br.sendTransform( tf::StampedTransform( transform, odomAftMapped.header.stamp, "camera_init", "aft_mapped" ) ); + br.sendTransform( tf::StampedTransform( transform, odomAftMapped.header.stamp, "camera_init", "body") ); } void publish_path(const ros::Publisher pubPath) @@ -380,16 +380,16 @@ int main(int argc, char** argv) ("/cloud_registered", 1000); ros::Publisher pubLaserCloudFullRes_body = nh.advertise ("/cloud_registered_body", 1000); - ros::Publisher pubLaserCloudEffect = nh.advertise - ("/cloud_effected", 1000); + // ros::Publisher pubLaserCloudEffect = nh.advertise + // ("/cloud_effected", 1000); ros::Publisher pubLaserCloudMap = nh.advertise ("/Laser_map", 1000); ros::Publisher pubOdomAftMapped = nh.advertise ("/aft_mapped_to_init", 1000); ros::Publisher pubPath = nh.advertise ("/path", 1000); - ros::Publisher plane_pub = nh.advertise - ("/planner_normal", 1000); + // ros::Publisher plane_pub = nh.advertise + // ("/planner_normal", 1000); //------------------------------------------------------------------------------------------------------ signal(SIGINT, SigHandle); ros::Rate loop_rate(500);