From 1c5d5cefd1ccb8097d6075f41399f9b43792d78a Mon Sep 17 00:00:00 2001 From: Tomas Baca Date: Sun, 21 Apr 2024 13:17:06 +0200 Subject: [PATCH] fixed avoidance bug --- src/mpc_tracker/mpc_tracker.cpp | 5 +- .../config/mrs_simulator.yaml | 4 +- .../mpc_avoidance_two_should_avoid.test | 3 + .../mpc_avoidance_two_should_avoid/rviz1.rviz | 533 ++++++++++++++++++ .../mpc_avoidance_two_should_avoid/rviz2.rviz | 533 ++++++++++++++++++ 5 files changed, 1074 insertions(+), 4 deletions(-) create mode 100644 test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz1.rviz create mode 100644 test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz2.rviz diff --git a/src/mpc_tracker/mpc_tracker.cpp b/src/mpc_tracker/mpc_tracker.cpp index 68765b4..f7e5c59 100644 --- a/src/mpc_tracker/mpc_tracker.cpp +++ b/src/mpc_tracker/mpc_tracker.cpp @@ -1608,7 +1608,7 @@ void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::Co std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_); // update the diagnostics - other_uav_avoidance_trajectories_.emplace(trajectory.uav_name, trajectory); + other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory; } } @@ -1631,7 +1631,7 @@ void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnosti { std::scoped_lock lock(mutex_other_uav_diagnostics_); - other_uav_diagnostics_.emplace(diagnostics.uav_name, diagnostics); + other_uav_diagnostics_[diagnostics.uav_name] = diagnostics; } } @@ -1790,6 +1790,7 @@ double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) { } } } + u++; } diff --git a/test/mpc_tracker/mpc_avoidance_two_should_avoid/config/mrs_simulator.yaml b/test/mpc_tracker/mpc_avoidance_two_should_avoid/config/mrs_simulator.yaml index 9c7f335..646065d 100644 --- a/test/mpc_tracker/mpc_avoidance_two_should_avoid/config/mrs_simulator.yaml +++ b/test/mpc_tracker/mpc_avoidance_two_should_avoid/config/mrs_simulator.yaml @@ -13,7 +13,7 @@ uav_names: [ uav1: type: "x500" spawn: - x: 0.0 + x: 5.0 y: 0.0 z: 5.0 heading: 0.0 @@ -21,7 +21,7 @@ uav1: uav2: type: "x500" spawn: - x: 5.0 + x: 0.0 y: 0.0 z: 5.0 heading: 0.0 diff --git a/test/mpc_tracker/mpc_avoidance_two_should_avoid/mpc_avoidance_two_should_avoid.test b/test/mpc_tracker/mpc_avoidance_two_should_avoid/mpc_avoidance_two_should_avoid.test index 3955416..5fc1a72 100644 --- a/test/mpc_tracker/mpc_avoidance_two_should_avoid/mpc_avoidance_two_should_avoid.test +++ b/test/mpc_tracker/mpc_avoidance_two_should_avoid/mpc_avoidance_two_should_avoid.test @@ -46,6 +46,9 @@ + + + diff --git a/test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz1.rviz b/test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz1.rviz new file mode 100644 index 0000000..6ae8e54 --- /dev/null +++ b/test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz1.rviz @@ -0,0 +1,533 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.6970587968826294 + Tree Height: 361 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + - /Plan path1 + - /Custom Goal1 + 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: 0.20000000298023224 + 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: 100 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 5 + 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: 100 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - 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 + uav1/fcu: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + uav1/fcu/arms_red: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: UAVModel + Robot Description: /uav1/robot_model + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/Group + Displays: + - Background color: 204; 204; 204 + Class: mrs_rviz_plugins/Status + Computer load: true + Control manager: true + Custom strings: true + Enabled: true + Hw api state: true + Name: Status + Node stats list: false + Odometry: true + Text color: 0; 0; 0 + Top Line: true + Topic rates: true + UAV name: uav1 + Value: true + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: true + Name: Control Display + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: control/update + Value: true + Enabled: true + Name: Status + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 6.5032958984375 + Min Value: -0.6449446678161621 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: ouster_raw + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Spheres + Topic: /uav1/os_cloud_nodelet/points + Unreliable: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: rplidar + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /uav1/rplidar/scan + Unreliable: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /uav1/vio/camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: vio_camera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: true + Name: Sensors + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/control_manager/safety_area_markers + Name: SafetyhArea + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/control_manager/safety_area_coordinates_markers + Name: SafetyAreaCoordinates + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/control_manager/disturbances_markers + Name: Disturbances + Namespaces: + control_manager: true + Queue Size: 100 + Value: true + - Angle Tolerance: 0.009999999776482582 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: control_reference + Position Tolerance: 0.009999999776482582 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /uav1/control_manager/control_reference + Unreliable: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 170; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /uav1/control_manager/trajectory_original/poses + Unreliable: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/control_manager/trajectory_original/markers + Name: Markers + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: OriginalTrajectory + - Alpha: 0.10000000149011612 + Class: mrs_rviz_plugins/Bumper + Collision alpha: 0.5 + Collision color: 255; 0; 0 + Color: 204; 51; 204 + Colorize collisions: true + Display mode: sensor types + Enabled: true + History Length: 1 + Horizontal collision threshold: 1 + Name: Bumper + Queue Size: 10 + Show sectors with no data: false + Show undetected obstacles: true + Topic: /uav1/bumper/obstacle_sectors + Unreliable: true + Value: true + Vertical collision threshold: 1 + Enabled: true + Name: ControlManager + - Class: rviz/Group + Displays: + - Angle Tolerance: 0.009999999776482582 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 1 + Name: odom_main + Position Tolerance: 0.009999999776482582 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 0.5 + Axes Radius: 0.10000000149011612 + Color: 0; 25; 255 + Head Length: 1 + Head Radius: 0.30000001192092896 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /uav1/estimation_manager/odom_main + Unreliable: true + Value: true + Enabled: true + Name: EstimationManager + - Class: rviz/Group + Displays: + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: MpcPredictionTrajectory + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /uav1/control_manager/mpc_tracker/predicted_trajectory_debugging + Unreliable: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.10000000149011612 + Axes Radius: 0.05000000074505806 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: MpcInnerReference + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Axes + Topic: /uav1/control_manager/mpc_tracker/mpc_reference_debugging + Unreliable: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /uav1/control_manager/mpc_tracker/trajectory_processed/poses + Unreliable: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/control_manager/mpc_tracker/trajectory_processed/markers + Name: Markers + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: PostprocessedTrajectory + Enabled: true + Name: MpcTracker + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/trajectory_generation/markers/final + Name: final + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav1/trajectory_generation/markers/original + Name: original + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: TrajectoryGeneration + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: uav1/world_origin + Frame Rate: 60 + 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 + - Class: mrs_rviz_plugins/ControlTool + - Class: mrs_rviz_plugins/WaypointPlanner + Drone name: uav1 + Fly now: true + Height offset: 0 + Loop: false + Shape: Axes + Stop at waypoints: false + Topic: trajectory_generation/path + Use heading: true + - Class: mrs_rviz_plugins/NamedSetGoal + Name: name + Topic: goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.42684555053711 + 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: -0.012971354648470879 + Y: -0.16276033222675323 + Z: 1.279098391532898 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3653985559940338 + Target Frame: uav1/fcu + Yaw: 3.0853917598724365 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 506 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000001a4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001400000009f0000000000000000fb0000001400760069006f005f00630061006d00650072006100000001400000009f0000001600ffffff0000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000030200fffffffb0000000800540069006d0065010000000000000450000000000000000000000606000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: true + Views: + collapsed: true + Width: 1890 + X: 3852 + Y: 32 + vio_camera: + collapsed: false diff --git a/test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz2.rviz b/test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz2.rviz new file mode 100644 index 0000000..ceb8988 --- /dev/null +++ b/test/mpc_tracker/mpc_avoidance_two_should_avoid/rviz2.rviz @@ -0,0 +1,533 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.6970587968826294 + Tree Height: 361 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + - /Plan path1 + - /Custom Goal1 + 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: 0.20000000298023224 + 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: 100 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 5 + 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: 100 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - 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 + uav2/fcu: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + uav2/fcu/arms_red: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: UAVModel + Robot Description: /uav2/robot_model + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/Group + Displays: + - Background color: 204; 204; 204 + Class: mrs_rviz_plugins/Status + Computer load: true + Control manager: true + Custom strings: true + Enabled: true + Hw api state: true + Name: Status + Node stats list: false + Odometry: true + Text color: 0; 0; 0 + Top Line: true + Topic rates: true + UAV name: uav2 + Value: true + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: true + Name: Control Display + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: control/update + Value: true + Enabled: true + Name: Status + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 6.5032958984375 + Min Value: -0.6449446678161621 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: ouster_raw + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Spheres + Topic: /uav2/os_cloud_nodelet/points + Unreliable: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: rplidar + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /uav2/rplidar/scan + Unreliable: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /uav2/vio/camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: vio_camera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: true + Name: Sensors + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/control_manager/safety_area_markers + Name: SafetyhArea + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/control_manager/safety_area_coordinates_markers + Name: SafetyAreaCoordinates + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/control_manager/disturbances_markers + Name: Disturbances + Namespaces: + control_manager: true + Queue Size: 100 + Value: true + - Angle Tolerance: 0.009999999776482582 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: control_reference + Position Tolerance: 0.009999999776482582 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /uav2/control_manager/control_reference + Unreliable: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 170; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /uav2/control_manager/trajectory_original/poses + Unreliable: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/control_manager/trajectory_original/markers + Name: Markers + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: OriginalTrajectory + - Alpha: 0.10000000149011612 + Class: mrs_rviz_plugins/Bumper + Collision alpha: 0.5 + Collision color: 255; 0; 0 + Color: 204; 51; 204 + Colorize collisions: true + Display mode: sensor types + Enabled: true + History Length: 1 + Horizontal collision threshold: 1 + Name: Bumper + Queue Size: 10 + Show sectors with no data: false + Show undetected obstacles: true + Topic: /uav2/bumper/obstacle_sectors + Unreliable: true + Value: true + Vertical collision threshold: 1 + Enabled: true + Name: ControlManager + - Class: rviz/Group + Displays: + - Angle Tolerance: 0.009999999776482582 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 1 + Name: odom_main + Position Tolerance: 0.009999999776482582 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 0.5 + Axes Radius: 0.10000000149011612 + Color: 0; 25; 255 + Head Length: 1 + Head Radius: 0.30000001192092896 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /uav2/estimation_manager/odom_main + Unreliable: true + Value: true + Enabled: true + Name: EstimationManager + - Class: rviz/Group + Displays: + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: MpcPredictionTrajectory + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /uav2/control_manager/mpc_tracker/predicted_trajectory_debugging + Unreliable: true + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.10000000149011612 + Axes Radius: 0.05000000074505806 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: MpcInnerReference + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Axes + Topic: /uav2/control_manager/mpc_tracker/mpc_reference_debugging + Unreliable: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /uav2/control_manager/mpc_tracker/trajectory_processed/poses + Unreliable: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/control_manager/mpc_tracker/trajectory_processed/markers + Name: Markers + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: PostprocessedTrajectory + Enabled: true + Name: MpcTracker + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/trajectory_generation/markers/final + Name: final + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /uav2/trajectory_generation/markers/original + Name: original + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: TrajectoryGeneration + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: uav2/world_origin + Frame Rate: 60 + 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 + - Class: mrs_rviz_plugins/ControlTool + - Class: mrs_rviz_plugins/WaypointPlanner + Drone name: uav2 + Fly now: true + Height offset: 0 + Loop: false + Shape: Axes + Stop at waypoints: false + Topic: trajectory_generation/path + Use heading: true + - Class: mrs_rviz_plugins/NamedSetGoal + Name: name + Topic: goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.42684555053711 + 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: -0.012971354648470879 + Y: -0.16276033222675323 + Z: 1.279098391532898 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3653985559940338 + Target Frame: uav2/fcu + Yaw: 3.0853917598724365 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 506 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000001a4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001400000009f0000000000000000fb0000001400760069006f005f00630061006d00650072006100000001400000009f0000001600ffffff0000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000030200fffffffb0000000800540069006d0065010000000000000450000000000000000000000606000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: true + Views: + collapsed: true + Width: 1890 + X: 3852 + Y: 32 + vio_camera: + collapsed: false