From 25664737e7a368685ba00a34cbe09fb6a5308075 Mon Sep 17 00:00:00 2001 From: tomas Date: Fri, 14 Jun 2024 12:46:00 +0200 Subject: [PATCH] updated tmux params --- config/unreal_simulator.yaml | 12 ++++----- tmux/one_drone/config/simulator.yaml | 8 ++++++ tmux/one_drone/rviz.rviz | 26 +++++++++++-------- .../config/automatic_start.yaml | 0 .../config/custom_config.yaml | 0 .../config/hw_api.yaml | 0 .../config/network_config.yaml | 0 .../config/octomap_planner.yaml | 0 .../config/octomap_server.yaml | 0 .../config/simulator.yaml | 0 .../config/world_config.yaml | 0 .../kill.sh | 0 .../layout.json | 0 .../mapplan.launch | 0 .../rviz.rviz | 0 .../session.yml | 0 .../start.sh | 0 17 files changed, 29 insertions(+), 17 deletions(-) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/automatic_start.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/custom_config.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/hw_api.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/network_config.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/octomap_planner.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/octomap_server.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/simulator.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/config/world_config.yaml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/kill.sh (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/layout.json (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/mapplan.launch (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/rviz.rviz (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/session.yml (100%) rename tmux/{two_drones => two_drones_TODO_UPDATE}/start.sh (100%) diff --git a/config/unreal_simulator.yaml b/config/unreal_simulator.yaml index 7e786f1..a6e2c0f 100644 --- a/config/unreal_simulator.yaml +++ b/config/unreal_simulator.yaml @@ -1,5 +1,5 @@ -simulation_rate: 100.0 # Hz -clock_rate: 100.0 # Hz +simulation_rate: 250.0 # Hz +clock_rate: 250.0 # Hz realtime_factor: 1.0 # [-] # TODO describe @@ -9,7 +9,7 @@ sensors: lidar: - enabled: true + enabled: false rate: 10.0 # [Hz] @@ -34,7 +34,7 @@ sensors: rate: 10.0 # [Hz] rgb: - enabled: true + enabled: false rate: 30.0 # [Hz] @@ -43,13 +43,13 @@ sensors: width: 640 # [px] height: 480 # [px] - fov: 90.0 # [deg] + fov: 120.0 # [deg] offset_x: 0.14 # [m] offset_y: 0.0 # [m] offset_z: 0.0 # [m] - rotation_pitch: 45.0 # [deg] + rotation_pitch: 0.0 # [deg] rotation_yaw: 0.0 # [deg] rotation_roll: 0.0 # [deg] diff --git a/tmux/one_drone/config/simulator.yaml b/tmux/one_drone/config/simulator.yaml index d17ec2c..f770d13 100644 --- a/tmux/one_drone/config/simulator.yaml +++ b/tmux/one_drone/config/simulator.yaml @@ -13,3 +13,11 @@ uav1: y: 0.0 #15.0 z: 2.0 heading: 0 + +sensors: + lidar: + enabled: true + rgb: + enabled: true + stereo: + enabled: true diff --git a/tmux/one_drone/rviz.rviz b/tmux/one_drone/rviz.rviz index 08e5310..baa121e 100644 --- a/tmux/one_drone/rviz.rviz +++ b/tmux/one_drone/rviz.rviz @@ -299,7 +299,7 @@ Visualization Manager: Marker Topic: /uav1/control_manager/trajectory_original/markers Name: Markers Namespaces: - {} + "": true Queue Size: 100 Value: true Enabled: true @@ -423,7 +423,7 @@ Visualization Manager: Marker Topic: /uav1/control_manager/mpc_tracker/trajectory_processed/markers Name: Markers Namespaces: - {} + "": true Queue Size: 100 Value: true Enabled: true @@ -437,7 +437,9 @@ Visualization Manager: Marker Topic: /uav1/trajectory_generation/markers/final Name: final Namespaces: - {} + markers/final_lines: true + markers/final_points: true + markers/final_triangles: true Queue Size: 100 Value: true - Class: rviz/MarkerArray @@ -445,7 +447,9 @@ Visualization Manager: Marker Topic: /uav1/trajectory_generation/markers/original Name: original Namespaces: - {} + markers/original_lines: true + markers/original_points: true + markers/original_triangles: true Queue Size: 100 Value: true Enabled: true @@ -501,8 +505,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 12.268980979919434 - Min Value: -3.3021891117095947 + Max Value: -1.88069748878479 + Min Value: -3.277531385421753 Value: true Axis: Z Channel Name: intensity @@ -563,13 +567,13 @@ Visualization Manager: Queue Size: 100 Value: false - Class: rviz/MarkerArray - Enabled: false + Enabled: true Marker Topic: /uav1/octomap_local_vis/occupied_cells_vis_array Name: local_map Namespaces: - {} + map: true Queue Size: 100 - Value: false + Value: true Enabled: true Global Options: Background Color: 255; 255; 255 @@ -627,9 +631,9 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5153989195823669 + Pitch: 0.715398907661438 Target Frame: uav1/fcu - Yaw: 2.295440196990967 + Yaw: 2.7004404067993164 Saved: ~ Window Geometry: Displays: diff --git a/tmux/two_drones/config/automatic_start.yaml b/tmux/two_drones_TODO_UPDATE/config/automatic_start.yaml similarity index 100% rename from tmux/two_drones/config/automatic_start.yaml rename to tmux/two_drones_TODO_UPDATE/config/automatic_start.yaml diff --git a/tmux/two_drones/config/custom_config.yaml b/tmux/two_drones_TODO_UPDATE/config/custom_config.yaml similarity index 100% rename from tmux/two_drones/config/custom_config.yaml rename to tmux/two_drones_TODO_UPDATE/config/custom_config.yaml diff --git a/tmux/two_drones/config/hw_api.yaml b/tmux/two_drones_TODO_UPDATE/config/hw_api.yaml similarity index 100% rename from tmux/two_drones/config/hw_api.yaml rename to tmux/two_drones_TODO_UPDATE/config/hw_api.yaml diff --git a/tmux/two_drones/config/network_config.yaml b/tmux/two_drones_TODO_UPDATE/config/network_config.yaml similarity index 100% rename from tmux/two_drones/config/network_config.yaml rename to tmux/two_drones_TODO_UPDATE/config/network_config.yaml diff --git a/tmux/two_drones/config/octomap_planner.yaml b/tmux/two_drones_TODO_UPDATE/config/octomap_planner.yaml similarity index 100% rename from tmux/two_drones/config/octomap_planner.yaml rename to tmux/two_drones_TODO_UPDATE/config/octomap_planner.yaml diff --git a/tmux/two_drones/config/octomap_server.yaml b/tmux/two_drones_TODO_UPDATE/config/octomap_server.yaml similarity index 100% rename from tmux/two_drones/config/octomap_server.yaml rename to tmux/two_drones_TODO_UPDATE/config/octomap_server.yaml diff --git a/tmux/two_drones/config/simulator.yaml b/tmux/two_drones_TODO_UPDATE/config/simulator.yaml similarity index 100% rename from tmux/two_drones/config/simulator.yaml rename to tmux/two_drones_TODO_UPDATE/config/simulator.yaml diff --git a/tmux/two_drones/config/world_config.yaml b/tmux/two_drones_TODO_UPDATE/config/world_config.yaml similarity index 100% rename from tmux/two_drones/config/world_config.yaml rename to tmux/two_drones_TODO_UPDATE/config/world_config.yaml diff --git a/tmux/two_drones/kill.sh b/tmux/two_drones_TODO_UPDATE/kill.sh similarity index 100% rename from tmux/two_drones/kill.sh rename to tmux/two_drones_TODO_UPDATE/kill.sh diff --git a/tmux/two_drones/layout.json b/tmux/two_drones_TODO_UPDATE/layout.json similarity index 100% rename from tmux/two_drones/layout.json rename to tmux/two_drones_TODO_UPDATE/layout.json diff --git a/tmux/two_drones/mapplan.launch b/tmux/two_drones_TODO_UPDATE/mapplan.launch similarity index 100% rename from tmux/two_drones/mapplan.launch rename to tmux/two_drones_TODO_UPDATE/mapplan.launch diff --git a/tmux/two_drones/rviz.rviz b/tmux/two_drones_TODO_UPDATE/rviz.rviz similarity index 100% rename from tmux/two_drones/rviz.rviz rename to tmux/two_drones_TODO_UPDATE/rviz.rviz diff --git a/tmux/two_drones/session.yml b/tmux/two_drones_TODO_UPDATE/session.yml similarity index 100% rename from tmux/two_drones/session.yml rename to tmux/two_drones_TODO_UPDATE/session.yml diff --git a/tmux/two_drones/start.sh b/tmux/two_drones_TODO_UPDATE/start.sh similarity index 100% rename from tmux/two_drones/start.sh rename to tmux/two_drones_TODO_UPDATE/start.sh