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Cleanup rtab PR config and log files

pull/37/head
Binit Shah 3 years ago
parent
3bf1dd8f53
commit
8bc0c61644
10 changed files with 0 additions and 9477 deletions
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      .vscode/c_cpp_properties.json
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      output.txt
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      stretch_navigation/.vscode/c_cpp_properties.json
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.vscode/c_cpp_properties.json View File

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{
"configurations": [
{
"browse": {
"databaseFilename": "",
"limitSymbolsToIncludedHeaders": true
},
"includePath": [
"/opt/ros/noetic/include/**",
"/usr/include/**"
],
"name": "ROS"
}
],
"version": 4
}

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.vscode/settings.json View File

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{
"python.autoComplete.extraPaths": [
"/opt/ros/noetic/lib/python3/dist-packages",
"/home/csrobot/catkin_ws/devel/lib/python3/dist-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/noetic/lib/python3/dist-packages",
"/home/csrobot/catkin_ws/devel/lib/python3/dist-packages"
]
}

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frames.gv View File

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digraph G {
"camera_link" -> "camera_accel_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_bottom_screw_frame" -> "camera_link"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_accel_frame" -> "camera_accel_optical_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_color_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_color_frame" -> "camera_color_optical_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_depth_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_depth_frame" -> "camera_depth_optical_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_gyro_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_gyro_frame" -> "camera_gyro_optical_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_infra1_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_infra1_frame" -> "camera_infra1_optical_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_link" -> "camera_infra2_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"camera_infra2_frame" -> "camera_infra2_optical_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_head_tilt" -> "camera_bottom_screw_frame"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_head_pan" -> "link_head_tilt"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"base_link" -> "caster_link"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"odom" -> "base_link"[label=" Broadcaster: /gazebo\nAverage rate: 50.201\nBuffer length: 4.98\nMost recent transform: 187.027\nOldest transform: 182.047\n"];
"link_lift" -> "link_arm_l4"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_mast" -> "link_lift"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_arm_l0" -> "link_aruco_inner_wrist"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_arm_l1" -> "link_arm_l0"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"base_link" -> "link_aruco_left_base"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "link_aruco_right_base"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_lift" -> "link_aruco_shoulder"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_arm_l0" -> "link_aruco_top_wrist"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_gripper" -> "link_grasp_center"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_wrist_yaw" -> "link_gripper"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_arm_l0" -> "link_wrist_yaw"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_gripper_finger_left" -> "link_gripper_fingertip_left"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_gripper" -> "link_gripper_finger_left"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_gripper_finger_right" -> "link_gripper_fingertip_right"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_gripper" -> "link_gripper_finger_right"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_mast" -> "link_head"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "link_mast"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"base_link" -> "laser"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_mast" -> "respeaker_base"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
"link_arm_l2" -> "link_arm_l1"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_arm_l3" -> "link_arm_l2"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_arm_l4" -> "link_arm_l3"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"link_head" -> "link_head_pan"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"base_link" -> "link_left_wheel"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"base_link" -> "link_right_wheel"[label=" Broadcaster: /robot_state_publisher\nAverage rate: 25.202\nBuffer length: 4.96\nMost recent transform: 187.007\nOldest transform: 182.047\n"];
"map" -> "odom"[label=" Broadcaster: /amcl\nAverage rate: 6.541\nBuffer length: 4.739\nMost recent transform: 186.994\nOldest transform: 182.255\n"];
edge [style=invis];
subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
"Recorded at time: 187.044"[ shape=plaintext ] ;
}->"map";
}

BIN
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output.txt View File

@ -1,277 +0,0 @@
... logging to /home/nwright/.ros/log/fdd90a4a-eb0f-11eb-bdd6-2fa0df3c7078/roslaunch-nwright-ubuntu-301125.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/nwright/catkin_ws/src/stretch_ros/stretch_navigation/launch/navigation_3d.launch
started roslaunch server http://nwright-ubuntu:37765/
SUMMARY
========
PARAMETERS
* /amcl/amcl/ros__parameters/alpha1: 0.2
* /amcl/amcl/ros__parameters/alpha2: 0.2
* /amcl/amcl/ros__parameters/alpha3: 0.2
* /amcl/amcl/ros__parameters/alpha4: 0.2
* /amcl/amcl/ros__parameters/alpha5: 0.2
* /amcl/amcl/ros__parameters/always_reset_initial_pose: False
* /amcl/amcl/ros__parameters/base_frame_id: base_link
* /amcl/amcl/ros__parameters/beam_skip_distance: 0.5
* /amcl/amcl/ros__parameters/beam_skip_error_threshold: 0.9
* /amcl/amcl/ros__parameters/beam_skip_threshold: 0.3
* /amcl/amcl/ros__parameters/do_beamskip: False
* /amcl/amcl/ros__parameters/global_frame_id: map
* /amcl/amcl/ros__parameters/lambda_short: 0.1
* /amcl/amcl/ros__parameters/laser_likelihood_max_dist: 2.0
* /amcl/amcl/ros__parameters/laser_max_range: 100.0
* /amcl/amcl/ros__parameters/laser_min_range: -1.0
* /amcl/amcl/ros__parameters/laser_model_type: likelihood_field
* /amcl/amcl/ros__parameters/map_topic: /map
* /amcl/amcl/ros__parameters/max_beams: 60
* /amcl/amcl/ros__parameters/max_particles: 2000
* /amcl/amcl/ros__parameters/min_particles: 500
* /amcl/amcl/ros__parameters/odom_frame_id: odom
* /amcl/amcl/ros__parameters/pf_err: 0.05
* /amcl/amcl/ros__parameters/pf_z: 0.99
* /amcl/amcl/ros__parameters/recovery_alpha_fast: 0.0
* /amcl/amcl/ros__parameters/recovery_alpha_slow: 0.0
* /amcl/amcl/ros__parameters/resample_interval: 1
* /amcl/amcl/ros__parameters/robot_model_type: differential
* /amcl/amcl/ros__parameters/save_pose_rate: 0.5
* /amcl/amcl/ros__parameters/scan_topic: /scan
* /amcl/amcl/ros__parameters/set_initial_pose: False
* /amcl/amcl/ros__parameters/sigma_hit: 0.2
* /amcl/amcl/ros__parameters/tf_broadcast: True
* /amcl/amcl/ros__parameters/transform_tolerance: 1.0
* /amcl/amcl/ros__parameters/update_min_a: 0.2
* /amcl/amcl/ros__parameters/update_min_d: 0.25
* /amcl/amcl/ros__parameters/use_map_topic: True
* /amcl/amcl/ros__parameters/z_hit: 0.5
* /amcl/amcl/ros__parameters/z_max: 0.05
* /amcl/amcl/ros__parameters/z_rand: 0.5
* /amcl/amcl/ros__parameters/z_short: 0.05
* /move_base/DWAPlannerROS/acc_lim_theta: 4
* /move_base/DWAPlannerROS/acc_lim_trans: 0.7
* /move_base/DWAPlannerROS/acc_lim_x: 0.7
* /move_base/DWAPlannerROS/acc_lim_y: 0
* /move_base/DWAPlannerROS/forward_point_distance: 0.3
* /move_base/DWAPlannerROS/goal_distance_bias: 60
* /move_base/DWAPlannerROS/latch_xy_goal_tolerance: True
* /move_base/DWAPlannerROS/max_vel_theta: 1.5
* /move_base/DWAPlannerROS/max_vel_trans: 0.6
* /move_base/DWAPlannerROS/max_vel_x: 0.6
* /move_base/DWAPlannerROS/max_vel_y: 0
* /move_base/DWAPlannerROS/min_vel_theta: 0.4
* /move_base/DWAPlannerROS/min_vel_trans: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0
* /move_base/DWAPlannerROS/min_vel_y: 0
* /move_base/DWAPlannerROS/occdist_scale: 1.4
* /move_base/DWAPlannerROS/path_distance_bias: 80
* /move_base/DWAPlannerROS/prune_plan: True
* /move_base/DWAPlannerROS/sim_time: 1.1
* /move_base/DWAPlannerROS/vth_samples: 15
* /move_base/DWAPlannerROS/vx_samples: 5
* /move_base/DWAPlannerROS/vy_samples: 0
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.2
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 0.5
* /move_base/GlobalPlanner/default_tolerance: 0.2
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 66
* /move_base/GlobalPlanner/orientation_mode: 0
* /move_base/GlobalPlanner/orientation_window_size: 1
* /move_base/GlobalPlanner/outline_map: False
* /move_base/GlobalPlanner/publish_potential: False
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.8
* /move_base/TrajectoryPlannerROS/acc_lim_x: 0.35
* /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
* /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025
* /move_base/TrajectoryPlannerROS/dwa: False
* /move_base/TrajectoryPlannerROS/goal_distance_bias: 0.75
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
* /move_base/TrajectoryPlannerROS/heading_scoring: True
* /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: True
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.5
* /move_base/TrajectoryPlannerROS/max_vel_x: 1.0
* /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.3
* /move_base/TrajectoryPlannerROS/min_vel_theta: -1.5
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.15
* /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.00625
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
* /move_base/TrajectoryPlannerROS/path_distance_bias: 0.5
* /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False
* /move_base/TrajectoryPlannerROS/sim_granularity: 0.025
* /move_base/TrajectoryPlannerROS/sim_time: 1.0
* /move_base/TrajectoryPlannerROS/vtheta_samples: 10
* /move_base/TrajectoryPlannerROS/vx_samples: 3
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/base_global_planner: global_planner/Gl...
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/conservative_reset_dist: 3.0
* /move_base/controller_frequency: 7.0
* /move_base/global_costmap/2d_obstacles/laser/clearing: True
* /move_base/global_costmap/2d_obstacles/laser/data_type: LaserScan
* /move_base/global_costmap/2d_obstacles/laser/expected_update_rate: 0.3
* /move_base/global_costmap/2d_obstacles/laser/marking: True
* /move_base/global_costmap/2d_obstacles/laser/topic: scan
* /move_base/global_costmap/2d_obstacles/laser/track_unknown_space: True
* /move_base/global_costmap/2d_obstacles/observation_sources: laser
* /move_base/global_costmap/3d_obstacles/combination_method: 1
* /move_base/global_costmap/3d_obstacles/enabled: True
* /move_base/global_costmap/3d_obstacles/footprint_clearing_enabled: True
* /move_base/global_costmap/3d_obstacles/mark_threshold: 0
* /move_base/global_costmap/3d_obstacles/negative_obstacle/clearing: False
* /move_base/global_costmap/3d_obstacles/negative_obstacle/data_type: PointCloud2
* /move_base/global_costmap/3d_obstacles/negative_obstacle/decay_acceleration: 1
* /move_base/global_costmap/3d_obstacles/negative_obstacle/enabled: True
* /move_base/global_costmap/3d_obstacles/negative_obstacle/horizontal_fov_angle: 0.942478
* /move_base/global_costmap/3d_obstacles/negative_obstacle/marking: True
* /move_base/global_costmap/3d_obstacles/negative_obstacle/max_obstacle_height: -0.2
* /move_base/global_costmap/3d_obstacles/negative_obstacle/max_z: 0.1
* /move_base/global_costmap/3d_obstacles/negative_obstacle/min_obstacle_height: -5
* /move_base/global_costmap/3d_obstacles/negative_obstacle/min_z: -6
* /move_base/global_costmap/3d_obstacles/negative_obstacle/model_type: 0
* /move_base/global_costmap/3d_obstacles/negative_obstacle/topic: /camera/depth/col...
* /move_base/global_costmap/3d_obstacles/negative_obstacle/vertical_fov_angle: 0.785398
* /move_base/global_costmap/3d_obstacles/observation_sources: positive_obstacle...
* /move_base/global_costmap/3d_obstacles/origin_z: 0.0
* /move_base/global_costmap/3d_obstacles/positive_obstacle/clearing: True
* /move_base/global_costmap/3d_obstacles/positive_obstacle/data_type: PointCloud2
* /move_base/global_costmap/3d_obstacles/positive_obstacle/decay_acceleration: 1
* /move_base/global_costmap/3d_obstacles/positive_obstacle/enabled: True
* /move_base/global_costmap/3d_obstacles/positive_obstacle/horizontal_fov_angle: 0.942478
* /move_base/global_costmap/3d_obstacles/positive_obstacle/marking: True
* /move_base/global_costmap/3d_obstacles/positive_obstacle/max_obstacle_height: 1.5
* /move_base/global_costmap/3d_obstacles/positive_obstacle/max_z: 6
* /move_base/global_costmap/3d_obstacles/positive_obstacle/min_obstacle_height: 0.05
* /move_base/global_costmap/3d_obstacles/positive_obstacle/min_z: -0.1
* /move_base/global_costmap/3d_obstacles/positive_obstacle/model_type: 0
* /move_base/global_costmap/3d_obstacles/positive_obstacle/topic: /camera/depth/col...
* /move_base/global_costmap/3d_obstacles/positive_obstacle/vertical_fov_angle: 0.785398
* /move_base/global_costmap/3d_obstacles/publish_voxel_map: True
* /move_base/global_costmap/3d_obstacles/unknown_threshold: 15
* /move_base/global_costmap/3d_obstacles/z_resolution: 0.05
* /move_base/global_costmap/3d_obstacles/z_voxels: 16
* /move_base/global_costmap/footprint_padding: 0.0
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 2.5
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.2
* /move_base/global_costmap/map_type: costmap
* /move_base/global_costmap/obstacle_range: 2.5
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/raytrace_range: 3.0
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/robot_radius: 0.5
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/static_map_2d/map_topic: /map
* /move_base/global_costmap/static_map_3d_negative/map_topic: /projected_map_ne...
* /move_base/global_costmap/static_map_3d_positive/map_topic: /projected_map
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 10.0
* /move_base/local_costmap/2d_obstacles/laser/clearing: True
* /move_base/local_costmap/2d_obstacles/laser/data_type: LaserScan
* /move_base/local_costmap/2d_obstacles/laser/expected_update_rate: 0.3
* /move_base/local_costmap/2d_obstacles/laser/marking: True
* /move_base/local_costmap/2d_obstacles/laser/topic: scan
* /move_base/local_costmap/2d_obstacles/laser/track_unknown_space: True
* /move_base/local_costmap/2d_obstacles/observation_sources: laser
* /move_base/local_costmap/3d_obstacles/combination_method: 1
* /move_base/local_costmap/3d_obstacles/enabled: True
* /move_base/local_costmap/3d_obstacles/footprint_clearing_enabled: True
* /move_base/local_costmap/3d_obstacles/mark_threshold: 0
* /move_base/local_costmap/3d_obstacles/negative_obstacle/clearing: False
* /move_base/local_costmap/3d_obstacles/negative_obstacle/data_type: PointCloud2
* /move_base/local_costmap/3d_obstacles/negative_obstacle/decay_acceleration: 1
* /move_base/local_costmap/3d_obstacles/negative_obstacle/enabled: True
* /move_base/local_costmap/3d_obstacles/negative_obstacle/horizontal_fov_angle: 0.942478
* /move_base/local_costmap/3d_obstacles/negative_obstacle/marking: True
* /move_base/local_costmap/3d_obstacles/negative_obstacle/max_obstacle_height: -0.2
* /move_base/local_costmap/3d_obstacles/negative_obstacle/max_z: 0.1
* /move_base/local_costmap/3d_obstacles/negative_obstacle/min_obstacle_height: -5
* /move_base/local_costmap/3d_obstacles/negative_obstacle/min_z: -6
* /move_base/local_costmap/3d_obstacles/negative_obstacle/model_type: 0
* /move_base/local_costmap/3d_obstacles/negative_obstacle/topic: /camera/depth/col...
* /move_base/local_costmap/3d_obstacles/negative_obstacle/vertical_fov_angle: 0.785398
* /move_base/local_costmap/3d_obstacles/observation_sources: positive_obstacle...
* /move_base/local_costmap/3d_obstacles/origin_z: 0.0
* /move_base/local_costmap/3d_obstacles/positive_obstacle/clearing: True
* /move_base/local_costmap/3d_obstacles/positive_obstacle/data_type: PointCloud2
* /move_base/local_costmap/3d_obstacles/positive_obstacle/decay_acceleration: 1
* /move_base/local_costmap/3d_obstacles/positive_obstacle/enabled: True
* /move_base/local_costmap/3d_obstacles/positive_obstacle/horizontal_fov_angle: 0.942478
* /move_base/local_costmap/3d_obstacles/positive_obstacle/marking: True
* /move_base/local_costmap/3d_obstacles/positive_obstacle/max_obstacle_height: 1.5
* /move_base/local_costmap/3d_obstacles/positive_obstacle/max_z: 6
* /move_base/local_costmap/3d_obstacles/positive_obstacle/min_obstacle_height: 0.05
* /move_base/local_costmap/3d_obstacles/positive_obstacle/min_z: -0.1
* /move_base/local_costmap/3d_obstacles/positive_obstacle/model_type: 0
* /move_base/local_costmap/3d_obstacles/positive_obstacle/topic: /camera/depth/col...
* /move_base/local_costmap/3d_obstacles/positive_obstacle/vertical_fov_angle: 0.785398
* /move_base/local_costmap/3d_obstacles/publish_voxel_map: True
* /move_base/local_costmap/3d_obstacles/unknown_threshold: 15
* /move_base/local_costmap/3d_obstacles/z_resolution: 0.05
* /move_base/local_costmap/3d_obstacles/z_voxels: 16
* /move_base/local_costmap/footprint_padding: 0.0
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 5.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 2.5
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.2
* /move_base/local_costmap/map_type: costmap
* /move_base/local_costmap/obstacle_range: 2.5
* /move_base/local_costmap/plugins: [{'name': '3d_obs...
* /move_base/local_costmap/publish_frequency: 5.0
* /move_base/local_costmap/raytrace_range: 3.0
* /move_base/local_costmap/resolution: 0.06
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/robot_radius: 0.5
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 10.0
* /move_base/local_costmap/width: 5.0
* /move_base/max_planning_retries: 20
* /move_base/planner_patience: 10.0
* /octomap_server/base_frame_id: base_link
* /octomap_server/frame_id: map
* /octomap_server/occupancy_max_z: 2
* /octomap_server/occupancy_min_z: 0.23
* /octomap_server_negative/base_frame_id: base_link
* /octomap_server_negative/frame_id: map
* /octomap_server_negative/occupancy_max_z: -0.23
* /octomap_server_negative/occupancy_min_z: -10
* /rosdistro: noetic
* /rosversion: 1.15.11
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
octomap_server (octomap_server/octomap_server_node)
octomap_server_negative (octomap_server/octomap_server_node)
rviz (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
]2;/home/nwright/catkin_ws/src/stretch_ros/stretch_navigation/launch/navigation_3d.launch http://localhost:11311
process[map_server-1]: started with pid [301150]
process[octomap_server-2]: started with pid [301151]
process[octomap_server_negative-3]: started with pid [301152]
process[amcl-4]: started with pid [301153]
process[move_base-5]: started with pid [301154]
process[rviz-6]: started with pid [301159]
[rviz-6] killing on exit
[move_base-5] killing on exit
[amcl-4] killing on exit
[octomap_server_negative-3] killing on exit
[octomap_server-2] killing on exit
[map_server-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

+ 0
- 16
stretch_navigation/.vscode/c_cpp_properties.json View File

@ -1,16 +0,0 @@
{
"configurations": [
{
"browse": {
"databaseFilename": "",
"limitSymbolsToIncludedHeaders": true
},
"includePath": [
"/opt/ros/noetic/include/**",
"/usr/include/**"
],
"name": "ROS"
}
],
"version": 4
}

+ 0
- 6
stretch_navigation/.vscode/settings.json View File

@ -1,6 +0,0 @@
{
"python.autoComplete.extraPaths": [
"/opt/ros/noetic/lib/python3/dist-packages",
"/home/csrobot/catkin_ws/devel/lib/python3/dist-packages"
]
}

+ 0
- 9
vs.gitignore View File

@ -1,9 +0,0 @@
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
!.vscode/extensions.json
*.code-workspace
# Local History for Visual Studio Code
.history/

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