Skip to content

Commit 8ed5c37

Browse files
author
lamprecht
committed
prob: warn msg not partly working
1 parent df6f988 commit 8ed5c37

File tree

11 files changed

+1054
-39
lines changed

11 files changed

+1054
-39
lines changed

‎CMakeLists.txt‎

Lines changed: 7 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -14,11 +14,14 @@ find_package(catkin REQUIRED COMPONENTS
1414
tf
1515
std_msgs
1616
geometry_msgs
17+
visualization_msgs
1718
sensor_msgs
1819
tf2_msgs
20+
aruco
1921
)
2022

21-
#find_package(OpenCV REQUIRED)
23+
find_package(OpenCV REQUIRED) # is required otherwise including aruco throws error
24+
find_package(aruco REQUIRED)
2225

2326
## System dependencies are found with CMake's conventions
2427
# find_package(Boost REQUIRED COMPONENTS system)
@@ -117,7 +120,7 @@ find_package(catkin REQUIRED COMPONENTS
117120
catkin_package(
118121
INCLUDE_DIRS include
119122
LIBRARIES ${PROJECT_NAME}
120-
CATKIN_DEPENDS roscpp tf std_msgs geometry_msgs sensor_msgs tf2_msgs
123+
CATKIN_DEPENDS roscpp tf std_msgs geometry_msgs visualization_msgs sensor_msgs tf2_msgs aruco
121124
# DEPENDS system_lib
122125
)
123126
# |^ rviz_visual_tools deleted in catkin depends.
@@ -152,8 +155,8 @@ add_executable(tf_mapping_node src/tf_mapping_node.cpp)
152155
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
153156

154157
## Specify libraries to link a library or executable target against
155-
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
156-
target_link_libraries(tf_mapping_node ${PROJECT_NAME} )
158+
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${aruco_LIBS} ${OpenCV_LIBS})
159+
target_link_libraries(tf_mapping_node ${PROJECT_NAME} )
157160

158161
#############
159162
## Install ##

‎config/tf_mapping.rviz‎

Lines changed: 187 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,187 @@
1+
Panels:
2+
- Class: rviz/Displays
3+
Help Height: 0
4+
Name: Displays
5+
Property Tree Widget:
6+
Expanded:
7+
- /Global Options1
8+
- /Status1
9+
- /TF1
10+
- /TF1/Frames1
11+
Splitter Ratio: 0.39250493
12+
Tree Height: 290
13+
- Class: rviz/Selection
14+
Name: Selection
15+
- Class: rviz/Tool Properties
16+
Expanded:
17+
- /2D Pose Estimate1
18+
- /2D Nav Goal1
19+
- /Publish Point1
20+
Name: Tool Properties
21+
Splitter Ratio: 0.588679016
22+
- Class: rviz/Views
23+
Expanded:
24+
- /Current View1
25+
Name: Views
26+
Splitter Ratio: 0.5
27+
- Class: rviz/Time
28+
Experimental: false
29+
Name: Time
30+
SyncMode: 0
31+
SyncSource: ResultImg
32+
Visualization Manager:
33+
Class: ""
34+
Displays:
35+
- Alpha: 0.5
36+
Cell Size: 1
37+
Class: rviz/Grid
38+
Color: 160; 160; 164
39+
Enabled: true
40+
Line Style:
41+
Line Width: 0.0299999993
42+
Value: Lines
43+
Name: Grid
44+
Normal Cell Count: 0
45+
Offset:
46+
X: 0
47+
Y: 0
48+
Z: 0
49+
Plane: XY
50+
Plane Cell Count: 10
51+
Reference Frame: <Fixed Frame>
52+
Value: true
53+
- Class: rviz/Axes
54+
Enabled: true
55+
Length: 10
56+
Name: Axes
57+
Radius: 0.00999999978
58+
Reference Frame: <Fixed Frame>
59+
Value: true
60+
- Class: rviz/Image
61+
Enabled: true
62+
Image Topic: /result_img
63+
Max Value: 1
64+
Median window: 5
65+
Min Value: 0
66+
Name: ResultImg
67+
Normalize Range: true
68+
Queue Size: 2
69+
Transport Hint: raw
70+
Unreliable: false
71+
Value: true
72+
- Class: rviz/Marker
73+
Enabled: true
74+
Marker Topic: /aruco_markers
75+
Name: Marker
76+
Namespaces:
77+
basic_shapes: true
78+
Queue Size: 100
79+
Value: true
80+
- Class: rviz/TF
81+
Enabled: true
82+
Frame Timeout: 15
83+
Frames:
84+
All Enabled: false
85+
camera_0:
86+
Value: false
87+
camera_position:
88+
Value: true
89+
marker_0:
90+
Value: false
91+
marker_globe_0:
92+
Value: true
93+
marker_id1:
94+
Value: false
95+
marker_id101:
96+
Value: false
97+
marker_id102:
98+
Value: true
99+
marker_id50:
100+
Value: false
101+
marker_id888:
102+
Value: true
103+
usb_cam:
104+
Value: false
105+
world:
106+
Value: false
107+
Marker Scale: 0.200000003
108+
Name: TF
109+
Show Arrows: true
110+
Show Axes: true
111+
Show Names: true
112+
Tree:
113+
world:
114+
camera_position:
115+
{}
116+
marker_0:
117+
camera_0:
118+
{}
119+
marker_globe_0:
120+
{}
121+
Update Interval: 0
122+
Value: true
123+
Enabled: true
124+
Global Options:
125+
Background Color: 48; 48; 48
126+
Default Light: true
127+
Fixed Frame: world
128+
Frame Rate: 30
129+
Name: root
130+
Tools:
131+
- Class: rviz/Interact
132+
Hide Inactive Objects: true
133+
- Class: rviz/MoveCamera
134+
- Class: rviz/Select
135+
- Class: rviz/FocusCamera
136+
- Class: rviz/Measure
137+
- Class: rviz/SetInitialPose
138+
Topic: /initialpose
139+
- Class: rviz/SetGoal
140+
Topic: /move_base_simple/goal
141+
- Class: rviz/PublishPoint
142+
Single click: true
143+
Topic: /clicked_point
144+
Value: true
145+
Views:
146+
Current:
147+
Class: rviz/Orbit
148+
Distance: 3.74318194
149+
Enable Stereo Rendering:
150+
Stereo Eye Separation: 0.0599999987
151+
Stereo Focal Distance: 1
152+
Swap Stereo Eyes: false
153+
Value: false
154+
Focal Point:
155+
X: 0
156+
Y: 0
157+
Z: 0
158+
Focal Shape Fixed Size: true
159+
Focal Shape Size: 0.0500000007
160+
Invert Z Axis: false
161+
Name: Current View
162+
Near Clip Distance: 0.00999999978
163+
Pitch: 1.01039755
164+
Target Frame: <Fixed Frame>
165+
Value: Orbit (rviz)
166+
Yaw: 5.85358381
167+
Saved: ~
168+
Window Geometry:
169+
Displays:
170+
collapsed: false
171+
Height: 744
172+
Hide Left Dock: false
173+
Hide Right Dock: true
174+
QMainWindow State: 000000ff00000000fd00000004000000000000020a0000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000163000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120052006500730075006c00740049006d00670100000191000000f50000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005350000003efc0100000002fb0000000800540069006d00650100000000000005350000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003250000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
175+
ResultImg:
176+
collapsed: false
177+
Selection:
178+
collapsed: false
179+
Time:
180+
collapsed: false
181+
Tool Properties:
182+
collapsed: false
183+
Views:
184+
collapsed: true
185+
Width: 1333
186+
X: 1953
187+
Y: 336

0 commit comments

Comments
 (0)