From 472c234f163ac29ae4c326338ec8b7acebc3f098 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Sun, 19 Apr 2020 20:04:40 +0900 Subject: [PATCH 1/6] remove emacs backup(~) files --- .../scripts/surface_tablet.desktop~ | 11 ----------- .../scripts/surface_tablet.sh~ | 8 -------- 2 files changed, 19 deletions(-) delete mode 100755 detect_cans_in_fridge_201202/scripts/surface_tablet.desktop~ delete mode 100755 detect_cans_in_fridge_201202/scripts/surface_tablet.sh~ diff --git a/detect_cans_in_fridge_201202/scripts/surface_tablet.desktop~ b/detect_cans_in_fridge_201202/scripts/surface_tablet.desktop~ deleted file mode 100755 index 9d6dd687c9..0000000000 --- a/detect_cans_in_fridge_201202/scripts/surface_tablet.desktop~ +++ /dev/null @@ -1,11 +0,0 @@ - -[Desktop Entry] - -Version=1.0 -Type=Application -Terminal=false -Name=Tablet Rviz -Icon[ja_JP]=/opt/ros/@ROS_DISTRO@/stacks/pr2_gui/pr2_dashboard/icons/rosout-green-untoggled.png -Name[ja_JP]=Tablet Rviz -Exec=/bin/bash -i -c "DISPLAY=:0.0 xterm -e rosrun detect_cans_in_fridge_201202 surface_tablet.sh" -Icon=/opt/ros/hydro/share/rviz/icons/package.png diff --git a/detect_cans_in_fridge_201202/scripts/surface_tablet.sh~ b/detect_cans_in_fridge_201202/scripts/surface_tablet.sh~ deleted file mode 100755 index ea9f878c4a..0000000000 --- a/detect_cans_in_fridge_201202/scripts/surface_tablet.sh~ +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash - -source ~/.bashrc - -rossetrobot c1 -rossetip - -rosrun rviz rviz -d $(rospack find detect_cans_in_fridge_201202)/config/surfacetablet.rviz From 4003402e5e2d9059fd4baacafd3c9e24a2baaba9 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 3 Nov 2021 19:39:26 +0900 Subject: [PATCH 2/6] move util files of publish_spot.l to publish_spot_utils.l --- jsk_maps/tools/publish_spot.l | 111 +-------------------------- jsk_maps/tools/publish_spot_utils.l | 113 ++++++++++++++++++++++++++++ 2 files changed, 114 insertions(+), 110 deletions(-) create mode 100644 jsk_maps/tools/publish_spot_utils.l diff --git a/jsk_maps/tools/publish_spot.l b/jsk_maps/tools/publish_spot.l index aa766e30f5..52f2cfce41 100755 --- a/jsk_maps/tools/publish_spot.l +++ b/jsk_maps/tools/publish_spot.l @@ -1,120 +1,11 @@ #!/usr/bin/env roseus -(ros::roseus-add-msgs "jsk_rviz_plugins") - -(defvar *scene* nil) -(defvar *current-map-id* nil) -(defvar *pub-spots-marker-topic* "/spots_marker_array") -(defvar *pub-spots-pictogram-topic* "/spots_pictogram") -(defvar *tf-listener* nil) -(defvar *scene-name* nil) -(defvar *use-pictogram-p* nil) +(load "package://jsk_maps/tools/publish_spot_utils.l") (defun load-scene () (load (format nil "package://jsk_maps/src/~A-scene.l" *scene-name*)) (setq *scene* (funcall (intern (string-upcase (format nil "make-~A-scene" *scene-name*)))))) -(defun make-pin-marker (name coords header id - &key (height 1800) (radius 100) (alpha 1.0) (lifetime 15) color) - "Make pin marker messages for coordinates. - if :color is set, pin color is set, otherwise random color is set automatically." - (let ((cyl (make-cylinder radius (* radius 0.7) :segments 9 :pos (float-vector 0 0 (/ height 3)))) - (cub (make-cube (/ radius 3) (/ radius 3) (/ height 2.5) :pos (float-vector 0 0 (/ height 6)))) - (cds (send coords :copy-worldcoords))) - - ;; transform pin - (send cyl :rotate -pi/2 :y) - (send cyl :transform cds :world) - (send cub :transform cds :world) - - ;; generate random color - (unless color - (setq color (scale (/ 1.0 255.0) (apply #'float-vector (color-category20 id))))) - - ;; make pin - (list - (cylinder->marker-msg cyl header :color color :ns "pin_head" :lifetime lifetime :id id :alpha alpha) - (cube->marker-msg cub header :color color :ns "pin_body" :lifetime lifetime :id id :alpha alpha) - (text->marker-msg name (send cds :translate (float-vector 0 0 (/ height 6))) - header :ns "pin_label" :lifetime lifetime :id id)))) - -(defun publish-pin-marker-array (spots header &key (alpha 0.8) (lifetime 15)) - "Publish marker array from spots. - 'spots' is list of cons (name . coords) for each spots." - (unless (ros::get-topic-publisher *pub-spots-marker-topic*) - (ros::advertise *pub-spots-marker-topic* visualization_msgs::MarkerArray 5) - (unix:sleep 1)) - (let ((id 0)) - (ros::publish - *pub-spots-marker-topic* - (instance visualization_msgs::MarkerArray :init - :markers - (flatten - (mapcar #'(lambda (spot) - (make-pin-marker (car spot) (cdr spot) - header (incf id) - :alpha alpha - :lifetime lifetime)) spots)))))) - -(defun make-pictogram (name coords header id - &key (size 0.5) (lifetime 15) (alpha 0.8) - (color (float-vector 1.0 0.341176 0.133333))) - "Make pictogram from coords and label marker from name as a list of cons (pic . label)" - (let ((pictogram (instance jsk_rviz_plugins::Pictogram :init :header header)) - (cds (send coords :copy-worldcoords))) - - (send cds :translate (float-vector 0 0 500) :world) - (send pictogram :pose (ros::coords->tf-pose cds)) - - (let ((c (make-coords))) - (send c :rotate (deg2rad -90) :y) - (send c :rotate (deg2rad 180) :z) - (let ((q (matrix2quaternion (send c :rot)))) - (send pictogram :pose :orientation :w (elt q 0)) - (send pictogram :pose :orientation :x (elt q 1)) - (send pictogram :pose :orientation :y (elt q 2)) - (send pictogram :pose :orientation :z (elt q 3)))) - - (send pictogram :size size) - (send pictogram :character "fa-chevron-circle-up") - (send pictogram :color :r (elt color 0)) - (send pictogram :color :g (elt color 1)) - (send pictogram :color :b (elt color 2)) - (send pictogram :color :a alpha) - - - (send cds :translate (float-vector 0 0 100) :world) - (cons pictogram - (text->marker-msg name cds header - :ns "pin_label" :lifetime lifetime :id id)))) - -(defun publish-pictogram-array (spots header - &key (alpha 0.8) (lifetime 15) (size 0.5) - (color (float-vector 1.0 0.341176 0.133333))) - "Publish marker array from spots. - 'spots' is list of cons (name . coords) for each spots." - (unless (ros::get-topic-publisher *pub-spots-pictogram-topic*) - (ros::advertise *pub-spots-pictogram-topic* jsk_rviz_plugins::PictogramArray 5) - (unix:sleep 1)) - (unless (ros::get-topic-publisher *pub-spots-marker-topic*) - (ros::advertise *pub-spots-marker-topic* visualization_msgs::MarkerArray 5) - (unix:sleep 1)) - (let ((id 0) - pic pictograms markers) - (dolist (spot spots) - (setq pic (make-pictogram (car spot) (cdr spot) header (incf id) - :alpha alpha :lifetime lifetime - :size size :color color)) - (push (car pic) pictograms) - (push (cdr pic) markers)) - (ros::publish *pub-spots-pictogram-topic* - (instance jsk_rviz_plugins::PictogramArray :init - :header header - :pictograms pictograms)) - (ros::publish *pub-spots-marker-topic* - (instance visualization_msgs::MarkerArray :init - :markers markers)))) - (defun publish-spot () (let* ((stamp (ros::time-now)) (header (instance std_msgs::header :init :stamp stamp :frame_id "/map")) diff --git a/jsk_maps/tools/publish_spot_utils.l b/jsk_maps/tools/publish_spot_utils.l new file mode 100644 index 0000000000..21a9511356 --- /dev/null +++ b/jsk_maps/tools/publish_spot_utils.l @@ -0,0 +1,113 @@ +#!/usr/bin/env roseus + +(ros::roseus-add-msgs "jsk_rviz_plugins") + +(defvar *scene* nil) +(defvar *current-map-id* nil) +(defvar *pub-spots-marker-topic* "/spots_marker_array") +(defvar *pub-spots-pictogram-topic* "/spots_pictogram") +(defvar *tf-listener* nil) +(defvar *scene-name* nil) +(defvar *use-pictogram-p* nil) + +(defun make-pin-marker (name coords header id + &key (height 1800) (radius 100) (alpha 1.0) (lifetime 15) color) + "Make pin marker messages for coordinates. + if :color is set, pin color is set, otherwise random color is set automatically." + (let ((cyl (make-cylinder radius (* radius 0.7) :segments 9 :pos (float-vector 0 0 (/ height 3)))) + (cub (make-cube (/ radius 3) (/ radius 3) (/ height 2.5) :pos (float-vector 0 0 (/ height 6)))) + (cds (send coords :copy-worldcoords))) + + ;; transform pin + (send cyl :rotate -pi/2 :y) + (send cyl :transform cds :world) + (send cub :transform cds :world) + + ;; generate random color + (unless color + (setq color (scale (/ 1.0 255.0) (apply #'float-vector (color-category20 id))))) + + ;; make pin + (list + (cylinder->marker-msg cyl header :color color :ns "pin_head" :lifetime lifetime :id id :alpha alpha) + (cube->marker-msg cub header :color color :ns "pin_body" :lifetime lifetime :id id :alpha alpha) + (text->marker-msg name (send cds :translate (float-vector 0 0 (/ height 6))) + header :ns "pin_label" :lifetime lifetime :id id)))) + +(defun publish-pin-marker-array (spots header &key (alpha 0.8) (lifetime 15)) + "Publish marker array from spots. + 'spots' is list of cons (name . coords) for each spots." + (unless (ros::get-topic-publisher *pub-spots-marker-topic*) + (ros::advertise *pub-spots-marker-topic* visualization_msgs::MarkerArray 5) + (unix:sleep 1)) + (let ((id 0)) + (ros::publish + *pub-spots-marker-topic* + (instance visualization_msgs::MarkerArray :init + :markers + (flatten + (mapcar #'(lambda (spot) + (make-pin-marker (car spot) (cdr spot) + header (incf id) + :alpha alpha + :lifetime lifetime)) spots)))))) + +(defun make-pictogram (name coords header id + &key (size 0.5) (lifetime 15) (alpha 0.8) + (color (float-vector 1.0 0.341176 0.133333))) + "Make pictogram from coords and label marker from name as a list of cons (pic . label)" + (let ((pictogram (instance jsk_rviz_plugins::Pictogram :init :header header)) + (cds (send coords :copy-worldcoords))) + + (send cds :translate (float-vector 0 0 500) :world) + (send pictogram :pose (ros::coords->tf-pose cds)) + + (let ((c (make-coords))) + (send c :rotate (deg2rad -90) :y) + (send c :rotate (deg2rad 180) :z) + (let ((q (matrix2quaternion (send c :rot)))) + (send pictogram :pose :orientation :w (elt q 0)) + (send pictogram :pose :orientation :x (elt q 1)) + (send pictogram :pose :orientation :y (elt q 2)) + (send pictogram :pose :orientation :z (elt q 3)))) + + (send pictogram :size size) + (send pictogram :character "fa-chevron-circle-up") + (send pictogram :color :r (elt color 0)) + (send pictogram :color :g (elt color 1)) + (send pictogram :color :b (elt color 2)) + (send pictogram :color :a alpha) + + + (send cds :translate (float-vector 0 0 100) :world) + (cons pictogram + (text->marker-msg name cds header + :ns "pin_label" :lifetime lifetime :id id)))) + +(defun publish-pictogram-array (spots header + &key (alpha 0.8) (lifetime 15) (size 0.5) + (color (float-vector 1.0 0.341176 0.133333))) + "Publish marker array from spots. + 'spots' is list of cons (name . coords) for each spots." + (unless (ros::get-topic-publisher *pub-spots-pictogram-topic*) + (ros::advertise *pub-spots-pictogram-topic* jsk_rviz_plugins::PictogramArray 5) + (unix:sleep 1)) + (unless (ros::get-topic-publisher *pub-spots-marker-topic*) + (ros::advertise *pub-spots-marker-topic* visualization_msgs::MarkerArray 5) + (unix:sleep 1)) + (let ((id 0) + pic pictograms markers) + (dolist (spot spots) + (setq pic (make-pictogram (car spot) (cdr spot) header (incf id) + :alpha alpha :lifetime lifetime + :size size :color color)) + (push (car pic) pictograms) + (push (cdr pic) markers)) + (ros::publish *pub-spots-pictogram-topic* + (instance jsk_rviz_plugins::PictogramArray :init + :header header + :pictograms pictograms)) + (ros::publish *pub-spots-marker-topic* + (instance visualization_msgs::MarkerArray :init + :markers markers)))) + From 7da3cae460b110f96e7a7d369e21908bdc114794 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 3 Nov 2021 20:01:13 +0900 Subject: [PATCH 3/6] support height/radius keyward in publish-pin-marker-array, scale text based on size --- jsk_maps/tools/publish_spot_utils.l | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/jsk_maps/tools/publish_spot_utils.l b/jsk_maps/tools/publish_spot_utils.l index 21a9511356..19539aae74 100644 --- a/jsk_maps/tools/publish_spot_utils.l +++ b/jsk_maps/tools/publish_spot_utils.l @@ -32,9 +32,9 @@ (cylinder->marker-msg cyl header :color color :ns "pin_head" :lifetime lifetime :id id :alpha alpha) (cube->marker-msg cub header :color color :ns "pin_body" :lifetime lifetime :id id :alpha alpha) (text->marker-msg name (send cds :translate (float-vector 0 0 (/ height 6))) - header :ns "pin_label" :lifetime lifetime :id id)))) + header :ns "pin_label" :lifetime lifetime :id id :scale radius)))) -(defun publish-pin-marker-array (spots header &key (alpha 0.8) (lifetime 15)) +(defun publish-pin-marker-array (spots header &key (height 1800) (radius 100) (alpha 0.8) (lifetime 15)) "Publish marker array from spots. 'spots' is list of cons (name . coords) for each spots." (unless (ros::get-topic-publisher *pub-spots-marker-topic*) @@ -49,6 +49,8 @@ (mapcar #'(lambda (spot) (make-pin-marker (car spot) (cdr spot) header (incf id) + :height height + :radius radius :alpha alpha :lifetime lifetime)) spots)))))) @@ -82,7 +84,7 @@ (send cds :translate (float-vector 0 0 100) :world) (cons pictogram (text->marker-msg name cds header - :ns "pin_label" :lifetime lifetime :id id)))) + :ns "pin_label" :lifetime lifetime :id id :scale (* size 200))))) (defun publish-pictogram-array (spots header &key (alpha 0.8) (lifetime 15) (size 0.5) From b8060a61ad7b7e99de753ad9cec2b06e4ce61131 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 3 Nov 2021 20:01:59 +0900 Subject: [PATCH 4/6] fix anon with building name, add prefix for tf_mux/map_server --- jsk_maps/src/dump-map-info.l | 33 ++++++++++++++++++--------------- 1 file changed, 18 insertions(+), 15 deletions(-) diff --git a/jsk_maps/src/dump-map-info.l b/jsk_maps/src/dump-map-info.l index beb1e1da13..a217a859de 100644 --- a/jsk_maps/src/dump-map-info.l +++ b/jsk_maps/src/dump-map-info.l @@ -74,6 +74,7 @@ map_id: ~a" (defun dump-map-launch (building filename &key default-floor (keepout nil)) (let ((floors (send building :floors)) + (bld-name (remove #\/ (send building :name))) (cntr 0)) (if (stringp default-floor) (setq default-floor @@ -92,6 +93,8 @@ map_id: ~a" (format fd "~%") ;; argument (when keepout (format fd " ~%")) + (format fd " ~%") + (format fd " ~%") (format fd " ~%~%") ;; group @@ -103,12 +106,12 @@ map_id: ~a" (progn (format fd " ~%") (dolist (map floors) - (format fd " ~%" - cntr (get-yaml-filename map :unresolve t :keepout t) + bld-name cntr (get-yaml-filename map :unresolve t :keepout t) (send map :name) (send map :name)) (incf cntr)) (format fd " ~%"))) @@ -118,22 +121,22 @@ map_id: ~a" (progn (format fd " ~%") (dolist (map floors) - (format fd " ~%" - cntr (get-yaml-filename map :unresolve t :keepout nil) + bld-name cntr (get-yaml-filename map :unresolve t :keepout nil) (send map :name) (send map :name)) (incf cntr)) (format fd " ~%")) (dolist (map floors) - (format fd " ~%" - cntr (get-yaml-filename map :unresolve t) + bld-name cntr (get-yaml-filename map :unresolve t) (send map :name) (send map :name)) (incf cntr))) @@ -141,7 +144,7 @@ map_id: ~a" (format fd "~% ~%") (if keepout (progn - (format fd " ~%") (format fd " ~%") (format fd " ~%") - (format fd " ~%")) (progn - (format fd " ~%" - cntr + bld-name cntr (/ (elt (send map :worldpos) 0) 1000.0) (/ (elt (send map :worldpos) 1) 1000.0) (/ (elt (send map :worldpos) 2) 1000.0) (send building :name) (send map :name)) (incf cntr) - (format fd " ~%" - cntr (send map :name) (send map :name)) + bld-name cntr (send map :name) (send map :name)) (incf cntr) ) ;; - (format fd " From 6595d054a05b9e2e9bb0ed09252eb8e0c9f7be08 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 3 Nov 2021 20:03:49 +0900 Subject: [PATCH 5/6] add launch/config/hongo.rviz launch/start_campus_hongo.launch src/hongo-scene.l tools/publish_ raw_maps/hongo-1.00.pgm raw_maps/hongo-1.00.yaml --- jsk_maps/launch/config/hongo.rviz | 296 ++++++++++++++++++++++ jsk_maps/launch/start_campus_hongo.launch | 83 ++++++ jsk_maps/raw_maps/hongo-1.00.pgm | Bin 0 -> 360015 bytes jsk_maps/raw_maps/hongo-1.00.yaml | 7 + jsk_maps/src/hongo-scene.l | 43 ++++ jsk_maps/tools/publish_campus.l | 37 +++ 6 files changed, 466 insertions(+) create mode 100644 jsk_maps/launch/config/hongo.rviz create mode 100644 jsk_maps/launch/start_campus_hongo.launch create mode 100644 jsk_maps/raw_maps/hongo-1.00.pgm create mode 100644 jsk_maps/raw_maps/hongo-1.00.yaml create mode 100644 jsk_maps/src/hongo-scene.l create mode 100755 jsk_maps/tools/publish_campus.l diff --git a/jsk_maps/launch/config/hongo.rviz b/jsk_maps/launch/config/hongo.rviz new file mode 100644 index 0000000000..1e9a689daa --- /dev/null +++ b/jsk_maps/launch/config/hongo.rviz @@ -0,0 +1,296 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Map1 + - /MarkerArray1/Namespaces1 + Splitter Ratio: 0.5029411911964417 + Tree Height: 549 + - 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 + Experimental: false + 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: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng2/1F + Topic: /eng2/1f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng2/2F + Topic: /eng2/2f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng2/3F + Topic: /eng2/3f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng2/7F + Topic: /eng2/7f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng2/8F + Topic: /eng2/8f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng8/B1F + Topic: /eng8/b1f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng8/1F + Topic: /eng8/1f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Eng8/6F + Topic: /eng8/6f + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.10000000149011612 + Class: rviz/Map + Color Scheme: raw + Draw Behind: false + Enabled: true + Name: Map + Topic: /hongo + Unreliable: false + Use Timestamp: false + Value: true + - Class: jsk_rviz_plugin/PictogramArray + Enabled: true + Name: PictogramArray + Topic: /spots_pictogram + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /spots_marker_array + Name: MarkerArray + Namespaces: + pin_body: true + pin_head: true + pin_label: true + Queue Size: 100 + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + eng2: + Value: true + eng2/1f: + Value: true + eng2/2f: + Value: true + eng2/3f: + Value: true + eng2/7f: + Value: true + eng2/7f/73B2: + Value: true + eng2/8f: + Value: true + eng8: + Value: true + eng8/1f: + Value: true + eng8/6f: + Value: true + eng8/6f/610: + Value: true + eng8/b1f: + Value: true + hongo: + Value: true + map: + Value: true + world: + Value: true + Marker Scale: 10 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + eng2: + eng2/1f: + {} + eng2/2f: + {} + eng2/3f: + {} + eng2/7f: + eng2/7f/73B2: + {} + map: + {} + eng2/8f: + {} + eng8: + eng8/1f: + {} + eng8/6f: + eng8/6f/610: + {} + eng8/b1f: + {} + hongo: + {} + Update Interval: 0 + 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: 359.2821044921875 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 29.98914337158203 + Y: -116.84634399414062 + Z: -40.61910629272461 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3403984308242798 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.188566207885742 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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ztj;;PM3&8J7*Y=~iHOSb%Jjo2nfaLqG7#u4-sssgUY{r8Ho5&{Gk*I-bY^}+RGU@S zio&%a>uYLj8=7c5g=}P8$sN)QkNJiMM_@(wxGyOuo_zhyV$GPlH1qBL^tW-AVT1Df zZ|?<{#oI*=$LR3M7oR^{;I|DR1tuZYY?wK*?6cTMB_axK;e%^WS53gKAfhpt{HhKT z7fgggW*51;htS1j(kM7KoUIpQ>(SYTmCciKZrOoRa~!*)}?;Gx-KN@=>L2!fCHa z$*d$9#)bzdFoQV($LRh-;Qj$xTvp 600 pixel -> resolution 1000 [mm] + ;; see jsk_maps/raw_maps/hongo-campus-1.00.yaml for parameters + (setq map (make-floor-plane (ros::resolve-ros-path "package://jsk_maps/raw_maps/hongo-1.00.pgm") 1000 -300000 -300000 :name "/hongo")) + + (setq bld-eng2 (make-eng2-scene) + bld-eng8 (make-eng8-scene)) + (send bld-eng2 :locate #f( -10000 200000 0) :world) + (send bld-eng2 :orient (deg2rad -80) :z :world) + (send bld-eng8 :locate #f(-140000 220000 0) :world) + (send bld-eng8 :orient (deg2rad 100) :z :world) + + (setq scene + (instance + campus-model :init :name "/hongo" + :objects + (list map bld-eng2 bld-eng8) + )) + (send scene :add-spot (make-cascoords :pos #f(-220000 30000 0) :name "/hongo/main-gate")) + (send scene :add-spot (make-cascoords :pos #f(-220000 120000 0) :name "/hongo/starbucks")) + scene)) + +;; example +#| +(load "package://jsk_maps/src/hongo-scene.l") +(setq *scene* (make-hongo-campus)) +(objects (list *scene*)) +|# diff --git a/jsk_maps/tools/publish_campus.l b/jsk_maps/tools/publish_campus.l new file mode 100755 index 0000000000..b1821e15a1 --- /dev/null +++ b/jsk_maps/tools/publish_campus.l @@ -0,0 +1,37 @@ +#!/usr/bin/env roseus + +(load "package://jsk_maps/tools/publish_spot_utils.l") +(load "package://jsk_maps/src/hongo-scene.l") + +(defun publish-spot () + (let* ((stamp (ros::time-now)) + (header (instance std_msgs::header :init :stamp stamp :frame_id "/world")) + spots) + (dolist (spot (send *scene* :spots)) + (when (substringp "/hongo" (send spot :name)) + (push (cons (send spot :name) + (send spot :worldcoords)) spots))) + + ;; publish spots + (if *use-pictogram-p* + (publish-pictogram-array spots header :size 5) + (publish-pin-marker-array spots header :height 30000 :radius 5000)) + )) + + +(defun main () + (ros::roseus "publish_campus") + + ;; load params + (setq *use-pictogram-p* (ros::get-param "~use_pictogram" nil)) + + (if (or (not (boundp '*scene*)) (null *scene*)) + (setq *scene* (make-hongo-campus))) + + (ros::rate 0.3) + (while (ros::ok) + (ros::spin-once) + (publish-spot) + (ros::sleep))) + +(main) From cb4cd34fef223a4614fcbb3de29e1eed545e8cf9 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 26 Nov 2021 03:07:53 +0900 Subject: [PATCH 6/6] Add enshu room to eng2 1f map --- jsk_maps/raw_maps/eng2-1f-0.05.pgm | 36 ++++++++++----------- jsk_maps/raw_maps/eng2-1f-0.05_keepout.pgm | 36 ++++++++++----------- jsk_maps/raw_maps/eng2-1f-0.05_keepout.xcf | Bin 129442 -> 157258 bytes 3 files changed, 34 insertions(+), 38 deletions(-) diff --git a/jsk_maps/raw_maps/eng2-1f-0.05.pgm b/jsk_maps/raw_maps/eng2-1f-0.05.pgm index 6b8f8ee989..b02fe1935e 100644 --- a/jsk_maps/raw_maps/eng2-1f-0.05.pgm +++ b/jsk_maps/raw_maps/eng2-1f-0.05.pgm @@ -1,28 +1,26 @@ P5 -# Created by GIMP version 2.10.20 PNM plug-in +# Created by GIMP version 2.10.28 PNM plug-in 1394 1400 255 -SԙJyټ斩㯲䭳m=lRӣg(XCr 2h#UU>/sd@ . 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