From 86b06df902ebf13d3ebf4c3bd67b9ac6fae1b41a Mon Sep 17 00:00:00 2001 From: Giang Nguyen Date: Mon, 2 Sep 2024 15:23:32 +0200 Subject: [PATCH] Add pr2_in_apartment demo --- .../demos/pr2_in_apartment/config/rviz.rviz | 1212 +++++++++++++++++ multiverse/resources/muv/pr2_in_apartment.muv | 161 +++ .../robots/pr2/config/move_base.yaml | 121 ++ .../robots/pr2/config/ros_control.yaml | 36 + .../resources/robots/pr2/config/rviz.rviz | 1134 +++++++++++++++ 5 files changed, 2664 insertions(+) create mode 100644 multiverse/resources/demos/pr2_in_apartment/config/rviz.rviz create mode 100644 multiverse/resources/muv/pr2_in_apartment.muv create mode 100644 multiverse/resources/robots/pr2/config/move_base.yaml create mode 100644 multiverse/resources/robots/pr2/config/ros_control.yaml create mode 100644 multiverse/resources/robots/pr2/config/rviz.rviz diff --git a/multiverse/resources/demos/pr2_in_apartment/config/rviz.rviz b/multiverse/resources/demos/pr2_in_apartment/config/rviz.rviz new file mode 100644 index 000000000..0ac924706 --- /dev/null +++ b/multiverse/resources/demos/pr2_in_apartment/config/rviz.rviz @@ -0,0 +1,1212 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.3831101953983307 + Tree Height: 1576 + - 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 + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + 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: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + high_def_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + high_def_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_cam_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_forearm_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_led_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_motor_slider_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_torso_lift_side_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + narrow_stereo_l_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_l_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_r_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_r_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + pr2: + Alpha: 1 + Show Axes: false + Show Trail: false + projector_wg6802418_child_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + projector_wg6802418_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_cam_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_forearm_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_led_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_motor_slider_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_torso_lift_side_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_l_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_l_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_r_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_r_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: pr2_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + apartment_root: + Alpha: 1 + Show Axes: false + Show Trail: false + armchair: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bedside_table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_door: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_door_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_shelf1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_shelf2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_door: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_door_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_shelf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_door1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_door2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_door2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_shelf1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_shelf2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + coffee_table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + coffee_table_drawer: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink_stove: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink_tap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink_tap_switch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_watertab: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_front: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_front_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_tray1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_tray2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_tray3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + envelope_root: + Alpha: 1 + Show Axes: false + Show Trail: false + fridge_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door_tray1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door_tray2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_egg_tray: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_shelf1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_shelf2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + furnitures_root: + Alpha: 1 + Show Axes: false + Show Trail: false + island_cover1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + island_cover3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + island_cover4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + island_cover5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kitchen1_base_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kitchen1_root: + Alpha: 1 + Show Axes: false + Show Trail: false + kitchen2_base_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kitchen2_root: + Alpha: 1 + Show Axes: false + Show Trail: false + kitchen_root: + Alpha: 1 + Show Axes: false + Show Trail: false + oven: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oven_door: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sink_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sink_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sink_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sofa: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + stove: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_left_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_right_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_left_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_left_handle_rotation: + Alpha: 1 + Show Axes: false + Show Trail: false + window4_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_right_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_right_handle_rotation: + Alpha: 1 + Show Axes: false + Show Trail: false + windows: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: apartment_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base_node/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/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 + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 6.21798038482666 + 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: 1.9301865100860596 + Y: 1.9554588794708252 + Z: 0.39588838815689087 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.0347967147827148 + Target Frame: + Yaw: 0.8753954172134399 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 2086 + Hide Left Dock: true + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3840 + X: 0 + Y: 0 diff --git a/multiverse/resources/muv/pr2_in_apartment.muv b/multiverse/resources/muv/pr2_in_apartment.muv new file mode 100644 index 000000000..96005a4be --- /dev/null +++ b/multiverse/resources/muv/pr2_in_apartment.muv @@ -0,0 +1,161 @@ +resources: + - ../robots + - ../worlds + - ../objects + - ../demos + +worlds: + world: + rtf_desired: 1 + +simulations: + pr2_in_apartment: + simulator: mujoco + world: + name: world + path: apartment.xml + robots: + pr2: + path: pr2/pr2_with_pos_control.xml + apply: + body: + pr2: + pos: [1.5, 2.5, 0] + disable_self_collision: auto + joint_state: + torso_lift_joint: 0.33 + config: + max_time_step: 0.002 + min_time_step: 0.001 + +multiverse_server: + host: "tcp://127.0.0.1" + port: 7000 + +multiverse_clients: + pr2_in_apartment: + port: 7500 + send: + body: ["position", "quaternion"] + joint: ["joint_rvalue", "joint_tvalue", "joint_angular_velocity", "joint_linear_velocity", "joint_force", "joint_torque"] + receive: + pr2: ["odometric_velocity"] + head_pan_actuator: ["cmd_joint_rvalue"] + head_tilt_actuator: ["cmd_joint_rvalue"] + l_shoulder_pan_actuator: ["cmd_joint_rvalue"] + l_shoulder_lift_actuator: ["cmd_joint_rvalue"] + l_upper_arm_roll_actuator: ["cmd_joint_rvalue"] + l_elbow_flex_actuator: ["cmd_joint_rvalue"] + l_forearm_roll_actuator: ["cmd_joint_rvalue"] + l_wrist_flex_actuator: ["cmd_joint_rvalue"] + l_wrist_roll_actuator: ["cmd_joint_rvalue"] + r_shoulder_pan_actuator: ["cmd_joint_rvalue"] + r_shoulder_lift_actuator: ["cmd_joint_rvalue"] + r_upper_arm_roll_actuator: ["cmd_joint_rvalue"] + r_elbow_flex_actuator: ["cmd_joint_rvalue"] + r_forearm_roll_actuator: ["cmd_joint_rvalue"] + r_wrist_flex_actuator: ["cmd_joint_rvalue"] + r_wrist_roll_actuator: ["cmd_joint_rvalue"] + torso_lift_actuator: ["cmd_joint_tvalue"] + + ros: + ros_nodes: + services: + socket: + - port: 7400 + + publishers: + tf: + - meta_data: + world_name: world + length_unit: m + angle_unit: rad + mass_unit: kg + time_unit: s + handedness: rhs + port: 7301 + topic: /tf + rate: 60 + root_frame_id: map + odom: + - meta_data: + world_name: world + length_unit: m + angle_unit: rad + mass_unit: kg + time_unit: s + handedness: rhs + port: 7302 + odom_topic: /odom + tf_topic: /tf + rate: 60 + body: pr2 + frame_id: map + + subscribers: + cmd_vel: + - meta_data: + world_name: world + length_unit: m + angle_unit: rad + mass_unit: kg + time_unit: s + handedness: rhs + port: 7200 + topic: /cmd_vel + body: pr2 + + ros_run: + rviz: + config: pr2_in_apartment/config/rviz.rviz + robot_descriptions: + pr2_description: pr2/pr2.urdf + apartment_description: apartment/urdf/apartment.urdf + + map_server: + map: apartment/map/apartment.yaml + + move_base: + base_global_planner: navfn/NavfnROS + base_local_planner: dwa_local_planner/DWAPlannerROS + config: pr2/config/move_base.yaml + + ros_control: + - meta_data: + world_name: world + length_unit: m + angle_unit: rad + mass_unit: kg + time_unit: s + handedness: rhs + port: 7800 + controller_manager: + robot: pr2 + robot_description: /robot_description + urdf: pr2/pr2.urdf + config: pr2/config/ros_control.yaml + actuators: + head_pan_actuator: head_pan_joint + head_tilt_actuator: head_tilt_joint + l_shoulder_pan_actuator: l_shoulder_pan_joint + l_shoulder_lift_actuator: l_shoulder_lift_joint + l_upper_arm_roll_actuator: l_upper_arm_roll_joint + l_elbow_flex_actuator: l_elbow_flex_joint + l_forearm_roll_actuator: l_forearm_roll_joint + l_wrist_flex_actuator: l_wrist_flex_joint + l_wrist_roll_actuator: l_wrist_roll_joint + r_shoulder_pan_actuator: r_shoulder_pan_joint + r_shoulder_lift_actuator: r_shoulder_lift_joint + r_upper_arm_roll_actuator: r_upper_arm_roll_joint + r_elbow_flex_actuator: r_elbow_flex_joint + r_forearm_roll_actuator: r_forearm_roll_joint + r_wrist_flex_actuator: r_wrist_flex_joint + r_wrist_roll_actuator: r_wrist_roll_joint + torso_lift_actuator: torso_lift_joint + controllers: + spawn: + - joint_state_controller + head_controller + right_arm_controller + left_arm_controller + torso_controller diff --git a/multiverse/resources/robots/pr2/config/move_base.yaml b/multiverse/resources/robots/pr2/config/move_base.yaml new file mode 100644 index 000000000..9d98bc382 --- /dev/null +++ b/multiverse/resources/robots/pr2/config/move_base.yaml @@ -0,0 +1,121 @@ +DWAPlannerROS: + # Robot configuration parameters + acc_lim_x: 3.0 + acc_lim_y: 0.0 + acc_lim_th: 1.5 + + max_vel_x: 0.3 + min_vel_x: 0.0 + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_vel_trans: 0.3 + min_vel_trans: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + + # Trajectory Scoring Parameters + path_distance_bias: 64.0 # 64.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: false + + sim_time: 0.5 + +TrajectoryPlannerROS: + # Robot configuration parameters + acc_lim_x: 3.0 + acc_lim_y: 0.0 + acc_lim_th: 1.5 + + max_vel_x: 0.3 + min_vel_x: 0.0 + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_vel_trans: 0.3 + min_vel_trans: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + + # Trajectory Scoring Parameters + path_distance_bias: 128.0 # 64.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: false + + sim_time: 0.5 + +NavfnROS: + allow_unknown: true # Specifies whether or not to allow navfn to create plans that traverse unknown space. + default_tolerance: 0.1 # A tolerance on the goal point for the planner. + +global_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 20.0 + publish_frequency: 20.0 + obstacle_range: 5 + raytrace_range: 6 + footprint: [[-0.4, -0.4], [-0.4, 0.4], [0.4, 0.4], [0.4, -0.4]] + inflation: + inflation_radius: 0.4 + obstacles_laser: + observation_sources: base_scan + base_scan: + { + sensor_frame: base_laser_link, + data_type: LaserScan, + topic: pr2/base_laser, + marking: true, + clearing: true, + } + plugins: + - {name: static, type: "costmap_2d::StaticLayer"} + - {name: obstacles_laser, type: "costmap_2d::VoxelLayer"} + - {name: inflation, type: "costmap_2d::InflationLayer"} + +local_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 20.0 + publish_frequency: 20.0 + obstacle_range: 5 + raytrace_range: 6 + footprint: [[-0.4, -0.4], [-0.4, 0.4], [0.4, 0.4], [0.4, -0.4]] + inflation: + inflation_radius: 0.4 + obstacles_laser: + observation_sources: base_scan + base_scan: + { + sensor_frame: base_laser_link, + data_type: LaserScan, + topic: pr2/base_laser, + marking: true, + clearing: true, + } + rolling_window: true + width: 4.0 + height: 4.0 + resolution: 0.02 + + plugins: + - {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"} + - {name: inflation, type: "costmap_2d::InflationLayer"} \ No newline at end of file diff --git a/multiverse/resources/robots/pr2/config/ros_control.yaml b/multiverse/resources/robots/pr2/config/ros_control.yaml new file mode 100644 index 000000000..8bd92ff4e --- /dev/null +++ b/multiverse/resources/robots/pr2/config/ros_control.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 60 + +head_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - head_pan_joint + - head_tilt_joint + +right_arm_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - r_shoulder_pan_joint + - r_shoulder_lift_joint + - r_upper_arm_roll_joint + - r_elbow_flex_joint + - r_forearm_roll_joint + - r_wrist_flex_joint + - r_wrist_roll_joint + +left_arm_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - l_shoulder_pan_joint + - l_shoulder_lift_joint + - l_upper_arm_roll_joint + - l_elbow_flex_joint + - l_forearm_roll_joint + - l_wrist_flex_joint + - l_wrist_roll_joint + +torso_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - torso_lift_joint \ No newline at end of file diff --git a/multiverse/resources/robots/pr2/config/rviz.rviz b/multiverse/resources/robots/pr2/config/rviz.rviz new file mode 100644 index 000000000..357f140d3 --- /dev/null +++ b/multiverse/resources/robots/pr2/config/rviz.rviz @@ -0,0 +1,1134 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.3831101953983307 + Tree Height: 1576 + - 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 + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + 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: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + arm_left_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_6_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_7_link: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_left_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_6_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_7_link: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_right_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_antenna_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_antenna_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_cover_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_mic_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_mic_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_mic_front_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_mic_front_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_sonar_01_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_sonar_02_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_sonar_03_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_left_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_left_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_left_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_left_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_right_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_right_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_grasping_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_left_left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_right_grasping_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_right_left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rgbd_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + suspension_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + suspension_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + torso_fixed_column_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_column_link_extern: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_left_ft_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_left_ft_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_right_ft_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_right_ft_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + xtion_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + xtion_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + xtion_link: + Alpha: 1 + Show Axes: false + Show Trail: false + xtion_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + xtion_orbbec_aux_joint_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + xtion_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + xtion_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: tiago_dual_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + apartment_root: + Alpha: 1 + Show Axes: false + Show Trail: false + armchair: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bedside_table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet10_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet11_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_door: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_door_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_shelf1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet1_shelf2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_door: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_door_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_drawer6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet2_shelf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_door1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_door2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_door2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_shelf1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet4_shelf2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet5_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet6_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cabinet9_drawer3_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + coffee_table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + coffee_table_drawer: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink_stove: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink_tap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_sink_tap_switch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + counter_watertab: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_front: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_front_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_tray1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_tray2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dishwasher_tray3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + envelope_root: + Alpha: 1 + Show Axes: false + Show Trail: false + fridge_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door2_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door_tray1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_door_tray2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_drawer5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_egg_tray: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_shelf1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fridge_shelf2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + furnitures_root: + Alpha: 1 + Show Axes: false + Show Trail: false + island_cover1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + island_cover3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + island_cover4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + island_cover5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kitchen1_base_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kitchen1_root: + Alpha: 1 + Show Axes: false + Show Trail: false + kitchen2_base_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kitchen2_root: + Alpha: 1 + Show Axes: false + Show Trail: false + kitchen_root: + Alpha: 1 + Show Axes: false + Show Trail: false + oven: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oven_door: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sink_drawer1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sink_drawer1_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sink_drawer2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sofa: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + stove: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_left_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wardrobe_door_right_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_left_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_left_handle_rotation: + Alpha: 1 + Show Axes: false + Show Trail: false + window4_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_right_handle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + window4_right_handle_rotation: + Alpha: 1 + Show Axes: false + Show Trail: false + windows: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: apartment_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base_node/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/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 + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 6.21798038482666 + 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: 1.9301865100860596 + Y: 1.9554588794708252 + Z: 0.39588838815689087 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.1297962665557861 + Target Frame: + Yaw: 0.6053953170776367 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2086 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3840 + X: 0 + Y: 0