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anupamkaulanupamkaul
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Add gmapping and rviz to task5
Launch.sh tests that gmapping works in rviz.
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‎task5/workspace/catkin_ws/launch.sh‎

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@@ -4,7 +4,8 @@
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# a -hold option can be used to keep xterm persistent upon an exception (before -e)
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# House the robot into the world
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xterm -e "source devel/setup.bash; roslaunch turtlebot_gazebo turtlebot_world.launch" &
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#xterm -e "source devel/setup.bash; roslaunch turtlebot_gazebo turtlebot_world.launch" &
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xterm -e "source devel/setup.bash ; roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world" &
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sleep 10
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# Launch the optional teleop keyboard package to move the robot via keyboard
@@ -13,6 +14,12 @@ sleep 10
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xterm -e "source devel/setup.bash; roslaunch turtlebot_teleop keyboard_teleop.launch" &
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sleep 5
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xterm -e "source devel/setup.bash ; rosrun gmapping slam_gmapping " &
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sleep 5
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xterm -e "source devel/setup.bash ; rosrun rviz rviz -d src/rvizConfig/myslamconfig.rviz" &
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sleep 5
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#xterm -e "source devel/setup.bash; roslaunch my_robot mapping.launch" &
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#sleep 5
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‎task5/workspace/catkin_ws/src/rvizConfig/myslamconfig.rviz‎

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Grid1
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Splitter Ratio: 0.5
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Tree Height: 858
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: LaserScan
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: odom
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_footprint:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_depth_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_rgb_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_rgb_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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caster_back_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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caster_front_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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cliff_sensor_front_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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cliff_sensor_left_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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cliff_sensor_right_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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gyro_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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mount_asus_xtion_pro_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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plate_bottom_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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plate_middle_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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plate_top_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_bottom_0_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_bottom_1_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_bottom_2_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_bottom_3_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_bottom_4_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_bottom_5_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_kinect_0_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_kinect_1_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_middle_0_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_middle_1_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_middle_2_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_middle_3_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_top_0_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_top_1_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_top_2_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pole_top_3_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheel_left_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheel_right_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/LaserScan
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: LaserScan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Flat Squares
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Topic: /scan
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /map
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Unreliable: false
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Use Timestamp: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: base_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 20.5603065
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Enable Stereo Rendering:
301+
Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.915397942
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 5.45358515
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1146
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd000000040000000000000156000003e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000003e2000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003a000003e20000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003be0000003efc0100000002fb0000000800540069006d00650100000000000003be0000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000262000003e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 958
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X: 0
336+
Y: 0

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