API tools faq
paste
Guest User

Untitled

a guest
May 28th, 2020
102
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 35.51 KB | None | 0 0
raw download clone embed print report
  1. ekf_localization:
  2. base_link_frame: base_link
  3. frequency: 50
  4. imu0: imu/data
  5. imu0_config:
  6. - false
  7. - false
  8. - false
  9. - true
  10. - true
  11. - true
  12. - false
  13. - false
  14. - false
  15. - true
  16. - true
  17. - true
  18. - false
  19. - false
  20. - false
  21. imu0_differential: true
  22. imu0_queue_size: 10
  23. imu0_remove_gravitational_acceleration: true
  24. odom0: husky_velocity_controller/odom
  25. odom0_config:
  26. - false
  27. - false
  28. - false
  29. - false
  30. - false
  31. - false
  32. - true
  33. - true
  34. - true
  35. - false
  36. - false
  37. - true
  38. - false
  39. - false
  40. - false
  41. odom0_differential: false
  42. odom0_queue_size: 10
  43. odom_frame: odom
  44. two_d_mode: true
  45. world_frame: odom
  46. gazebo:
  47. auto_disable_bodies: false
  48. cfm: 0.0
  49. contact_max_correcting_vel: 100.0
  50. contact_surface_layer: 0.001
  51. enable_ros_network: true
  52. erp: 0.2
  53. gravity_x: 0.0
  54. gravity_y: 0.0
  55. gravity_z: -9.8
  56. max_contacts: 20
  57. max_update_rate: 1000.0
  58. sor_pgs_iters: 50
  59. sor_pgs_precon_iters: 0
  60. sor_pgs_rms_error_tol: 0.0
  61. sor_pgs_w: 1.3
  62. time_step: 0.001
  63. husky_joint_publisher:
  64. publish_rate: 50
  65. type: joint_state_controller/JointStateController
  66. husky_velocity_controller:
  67. angular:
  68. z:
  69. has_acceleration_limits: true
  70. has_velocity_limits: true
  71. max_acceleration: 6.0
  72. max_velocity: 2.0
  73. base_frame_id: base_link
  74. cmd_vel_timeout: 0.25
  75. enable_odom_tf: false
  76. estimate_velocity_from_position: false
  77. left_wheel:
  78. - front_left_wheel
  79. - rear_left_wheel
  80. left_wheel_radius_multiplier: 1.0
  81. linear:
  82. x:
  83. has_acceleration_limits: true
  84. has_velocity_limits: true
  85. max_acceleration: 3.0
  86. max_velocity: 1.0
  87. pose_covariance_diagonal:
  88. - 0.001
  89. - 0.001
  90. - 0.001
  91. - 0.001
  92. - 0.001
  93. - 0.03
  94. publish_rate: 50.0
  95. right_wheel:
  96. - front_right_wheel
  97. - rear_right_wheel
  98. right_wheel_radius_multiplier: 1.0
  99. twist_covariance_diagonal:
  100. - 0.001
  101. - 0.001
  102. - 0.001
  103. - 0.001
  104. - 0.001
  105. - 0.03
  106. type: diff_drive_controller/DiffDriveController
  107. velocity_rolling_window_size: 2
  108. wheel_radius_multiplier: 1.0
  109. wheel_separation_multiplier: 1.875
  110. imu:
  111. data:
  112. accel:
  113. drift: 0.005
  114. drift_frequency: 0.0002777777777777778
  115. gaussian_noise: 0.005
  116. offset: 0.0
  117. scale_error: 1.0
  118. rate:
  119. drift: 0.005
  120. drift_frequency: 0.0002777777777777778
  121. gaussian_noise: 0.005
  122. offset: 0.0
  123. scale_error: 1.0
  124. yaw:
  125. drift: 0.0
  126. drift_frequency: 0.0002777777777777778
  127. gaussian_noise: 0.0
  128. offset: 0.0
  129. scale_error: 1.0
  130. navsat:
  131. fix:
  132. position:
  133. drift: 0.0001
  134. drift_frequency: 0.0002777777777777778
  135. gaussian_noise: 0.0
  136. offset: 0.0
  137. scale_error: 1.0
  138. status:
  139. SERVICE_COMPASS: false
  140. SERVICE_GALILEO: false
  141. SERVICE_GLONASS: false
  142. SERVICE_GPS: false
  143. STATUS_FIX: true
  144. STATUS_GBAS_FIX: false
  145. STATUS_SBAS_FIX: false
  146. velocity:
  147. drift: 0.0
  148. drift_frequency: 0.0002777777777777778
  149. gaussian_noise: 0.0
  150. offset: 0.0
  151. scale_error: 1.0
  152. robot_description: "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<!-- ===================================================================================\
  153. \ -->\n<!-- | This document was autogenerated by xacro from /opt/ros/melodic/share/husky_description/urdf/husky.urdf.xacro\
  154. \ | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED \
  155. \ | -->\n<!-- ===================================================================================\
  156. \ -->\n<!--\nSoftware License Agreement (BSD)\n\n\\file husky.urdf.xacro\n\\\
  157. authors Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>\n\
  158. \\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.\n\
  159. \nRedistribution and use in source and binary forms, with or without modification,\
  160. \ are permitted provided that\nthe following conditions are met:\n * Redistributions\
  161. \ of source code must retain the above copyright notice, this list of conditions\
  162. \ and the\n following disclaimer.\n * Redistributions in binary form must reproduce\
  163. \ the above copyright notice, this list of conditions and the\n following disclaimer\
  164. \ in the documentation and/or other materials provided with the distribution.\n\
  165. \ * Neither the name of Clearpath Robotics nor the names of its contributors may\
  166. \ be used to endorse or promote\n products derived from this software without\
  167. \ specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT\
  168. \ HOLDERS AND CONTRIBUTORS \"AS IS\" AND ANY EXPRESS OR IMPLIED WAR-\nRANTIES, INCLUDING,\
  169. \ BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR\
  170. \ A PARTICULAR\nPURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR\
  171. \ CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-\nDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,\
  172. \ OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT\nOF SUBSTITUTE\
  173. \ GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\
  174. \ CAUSED AND\nON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\
  175. \ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\nARISING IN ANY WAY OUT OF THE USE\
  176. \ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n-->\n<robot\
  177. \ name=\"husky\">\n <!-- Base link is the center of the robot's bottom plate -->\n\
  178. \ <link name=\"base_link\">\n <visual>\n <origin rpy=\"0 0 0\" xyz=\"0\
  179. \ 0 0\"/>\n <geometry>\n <mesh filename=\"package://husky_description/meshes/base_link.dae\"\
  180. />\n </geometry>\n </visual>\n <collision>\n <origin rpy=\"0 0 0\"\
  181. \ xyz=\"0.0 0 0.061875\"/>\n <geometry>\n <box size=\"0.9874 0.5709\
  182. \ 0.12375\"/>\n </geometry>\n </collision>\n <collision>\n <origin\
  183. \ rpy=\"0 0 0\" xyz=\"0 0 0.175625\"/>\n <geometry>\n <box size=\"0.78992\
  184. \ 0.5709 0.10375\"/>\n </geometry>\n </collision>\n </link>\n <!-- Base\
  185. \ footprint is on the ground under the robot -->\n <link name=\"base_footprint\"\
  186. />\n <joint name=\"base_footprint_joint\" type=\"fixed\">\n <origin rpy=\"0\
  187. \ 0 0\" xyz=\"0 0 -0.13228\"/>\n <parent link=\"base_link\"/>\n <child link=\"\
  188. base_footprint\"/>\n </joint>\n <!-- Interial link stores the robot's inertial\
  189. \ information -->\n <link name=\"inertial_link\">\n <inertial>\n <mass\
  190. \ value=\"46.034\"/>\n <origin xyz=\"-0.00065 -0.085 0.062\"/>\n <inertia\
  191. \ ixx=\"0.6022\" ixy=\"-0.02364\" ixz=\"-0.1197\" iyy=\"1.7386\" iyz=\"-0.001544\"\
  192. \ izz=\"2.0296\"/>\n </inertial>\n </link>\n <joint name=\"inertial_joint\"\
  193. \ type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <parent link=\"\
  194. base_link\"/>\n <child link=\"inertial_link\"/>\n </joint>\n <!-- IMU Link\
  195. \ is the standard mounting position for the UM6 IMU.-->\n <!-- Can be modified\
  196. \ with environment variables in /etc/ros/setup.bash -->\n <link name=\"imu_link\"\
  197. />\n <joint name=\"imu_joint\" type=\"fixed\">\n <origin rpy=\"0 -1.5708 3.1416\"\
  198. \ xyz=\"0.19 0 0.149\"/>\n <parent link=\"base_link\"/>\n <child link=\"imu_link\"\
  199. />\n </joint>\n <gazebo reference=\"imu_link\">\n </gazebo>\n <link name=\"\
  200. front_left_wheel_link\">\n <inertial>\n <mass value=\"2.637\"/>\n <origin\
  201. \ xyz=\"0 0 0\"/>\n <inertia ixx=\"0.02467\" ixy=\"0\" ixz=\"0\" iyy=\"0.04411\"\
  202. \ iyz=\"0\" izz=\"0.02467\"/>\n </inertial>\n <visual>\n <origin rpy=\"\
  203. 0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"package://husky_description/meshes/wheel.dae\"\
  204. />\n </geometry>\n </visual>\n <collision>\n <origin rpy=\"1.570795\
  205. \ 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <cylinder length=\"0.1143\" radius=\"\
  206. 0.1651\"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference=\"\
  207. front_left_wheel_link\">\n <mu1 value=\"1.0\"/>\n <mu2 value=\"1.0\"/>\n \
  208. \ <kp value=\"10000000.0\"/>\n <kd value=\"1.0\"/>\n <fdir1 value=\"1 0\
  209. \ 0\"/>\n </gazebo>\n <joint name=\"front_left_wheel\" type=\"continuous\">\n\
  210. \ <parent link=\"base_link\"/>\n <child link=\"front_left_wheel_link\"/>\n\
  211. \ <origin rpy=\"0 0 0\" xyz=\"0.256 0.2854 0.03282\"/>\n <axis rpy=\"0 0 0\"\
  212. \ xyz=\"0 1 0\"/>\n </joint>\n <transmission name=\"front_left_wheel_trans\" type=\"\
  213. SimpleTransmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
  214. \ <actuator name=\"front_left_wheel_motor\">\n <mechanicalReduction>1</mechanicalReduction>\n\
  215. \ </actuator>\n <joint name=\"front_left_wheel\">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n\
  216. \ </joint>\n </transmission>\n <link name=\"front_right_wheel_link\">\n \
  217. \ <inertial>\n <mass value=\"2.637\"/>\n <origin xyz=\"0 0 0\"/>\n \
  218. \ <inertia ixx=\"0.02467\" ixy=\"0\" ixz=\"0\" iyy=\"0.04411\" iyz=\"0\" izz=\"\
  219. 0.02467\"/>\n </inertial>\n <visual>\n <origin rpy=\"0 0 0\" xyz=\"0\
  220. \ 0 0\"/>\n <geometry>\n <mesh filename=\"package://husky_description/meshes/wheel.dae\"\
  221. />\n </geometry>\n </visual>\n <collision>\n <origin rpy=\"1.570795\
  222. \ 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <cylinder length=\"0.1143\" radius=\"\
  223. 0.1651\"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference=\"\
  224. front_right_wheel_link\">\n <mu1 value=\"1.0\"/>\n <mu2 value=\"1.0\"/>\n\
  225. \ <kp value=\"10000000.0\"/>\n <kd value=\"1.0\"/>\n <fdir1 value=\"1 0\
  226. \ 0\"/>\n </gazebo>\n <joint name=\"front_right_wheel\" type=\"continuous\">\n\
  227. \ <parent link=\"base_link\"/>\n <child link=\"front_right_wheel_link\"/>\n\
  228. \ <origin rpy=\"0 0 0\" xyz=\"0.256 -0.2854 0.03282\"/>\n <axis rpy=\"0 0\
  229. \ 0\" xyz=\"0 1 0\"/>\n </joint>\n <transmission name=\"front_right_wheel_trans\"\
  230. \ type=\"SimpleTransmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
  231. \ <actuator name=\"front_right_wheel_motor\">\n <mechanicalReduction>1</mechanicalReduction>\n\
  232. \ </actuator>\n <joint name=\"front_right_wheel\">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n\
  233. \ </joint>\n </transmission>\n <link name=\"rear_left_wheel_link\">\n <inertial>\n\
  234. \ <mass value=\"2.637\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"\
  235. 0.02467\" ixy=\"0\" ixz=\"0\" iyy=\"0.04411\" iyz=\"0\" izz=\"0.02467\"/>\n </inertial>\n\
  236. \ <visual>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
  237. \ <mesh filename=\"package://husky_description/meshes/wheel.dae\"/>\n \
  238. \ </geometry>\n </visual>\n <collision>\n <origin rpy=\"1.570795 0 0\"\
  239. \ xyz=\"0 0 0\"/>\n <geometry>\n <cylinder length=\"0.1143\" radius=\"\
  240. 0.1651\"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference=\"\
  241. rear_left_wheel_link\">\n <mu1 value=\"1.0\"/>\n <mu2 value=\"1.0\"/>\n \
  242. \ <kp value=\"10000000.0\"/>\n <kd value=\"1.0\"/>\n <fdir1 value=\"1 0 0\"\
  243. />\n </gazebo>\n <joint name=\"rear_left_wheel\" type=\"continuous\">\n <parent\
  244. \ link=\"base_link\"/>\n <child link=\"rear_left_wheel_link\"/>\n <origin\
  245. \ rpy=\"0 0 0\" xyz=\"-0.256 0.2854 0.03282\"/>\n <axis rpy=\"0 0 0\" xyz=\"\
  246. 0 1 0\"/>\n </joint>\n <transmission name=\"rear_left_wheel_trans\" type=\"SimpleTransmission\"\
  247. >\n <type>transmission_interface/SimpleTransmission</type>\n <actuator name=\"\
  248. rear_left_wheel_motor\">\n <mechanicalReduction>1</mechanicalReduction>\n \
  249. \ </actuator>\n <joint name=\"rear_left_wheel\">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n\
  250. \ </joint>\n </transmission>\n <link name=\"rear_right_wheel_link\">\n <inertial>\n\
  251. \ <mass value=\"2.637\"/>\n <origin xyz=\"0 0 0\"/>\n <inertia ixx=\"\
  252. 0.02467\" ixy=\"0\" ixz=\"0\" iyy=\"0.04411\" iyz=\"0\" izz=\"0.02467\"/>\n </inertial>\n\
  253. \ <visual>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
  254. \ <mesh filename=\"package://husky_description/meshes/wheel.dae\"/>\n \
  255. \ </geometry>\n </visual>\n <collision>\n <origin rpy=\"1.570795 0 0\"\
  256. \ xyz=\"0 0 0\"/>\n <geometry>\n <cylinder length=\"0.1143\" radius=\"\
  257. 0.1651\"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference=\"\
  258. rear_right_wheel_link\">\n <mu1 value=\"1.0\"/>\n <mu2 value=\"1.0\"/>\n \
  259. \ <kp value=\"10000000.0\"/>\n <kd value=\"1.0\"/>\n <fdir1 value=\"1 0\
  260. \ 0\"/>\n </gazebo>\n <joint name=\"rear_right_wheel\" type=\"continuous\">\n\
  261. \ <parent link=\"base_link\"/>\n <child link=\"rear_right_wheel_link\"/>\n\
  262. \ <origin rpy=\"0 0 0\" xyz=\"-0.256 -0.2854 0.03282\"/>\n <axis rpy=\"0 0\
  263. \ 0\" xyz=\"0 1 0\"/>\n </joint>\n <transmission name=\"rear_right_wheel_trans\"\
  264. \ type=\"SimpleTransmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\
  265. \ <actuator name=\"rear_right_wheel_motor\">\n <mechanicalReduction>1</mechanicalReduction>\n\
  266. \ </actuator>\n <joint name=\"rear_right_wheel\">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n\
  267. \ </joint>\n </transmission>\n <!-- Spawn Husky chassis -->\n <link name=\"\
  268. top_chassis_link\">\n <visual>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
  269. \ <geometry>\n <mesh filename=\"package://husky_description/meshes/top_chassis.dae\"\
  270. />\n </geometry>\n </visual>\n </link>\n <!-- Attach chassis to the robot\
  271. \ -->\n <joint name=\"top_chassis_joint\" type=\"fixed\">\n <parent link=\"\
  272. base_link\"/>\n <child link=\"top_chassis_link\"/>\n </joint>\n <!-- Spawn\
  273. \ user rails -->\n <link name=\"user_rail_link\">\n <visual>\n <geometry>\n\
  274. \ <mesh filename=\"package://husky_description/meshes/user_rail.dae\"/>\n\
  275. \ </geometry>\n </visual>\n </link>\n <!-- Attach user rails to base link\
  276. \ -->\n <joint name=\"user_rail\" type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"\
  277. 0.272 0 0.245\"/>\n <parent link=\"base_link\"/>\n <child link=\"user_rail_link\"\
  278. />\n </joint>\n <!-- Spawn front bumper link -->\n <link name=\"front_bumper_link\"\
  279. >\n <visual>\n <geometry>\n <mesh filename=\"package://husky_description/meshes/bumper.dae\"\
  280. />\n </geometry>\n </visual>\n </link>\n <!-- Attach front bumper -->\n\
  281. \ <joint name=\"front_bumper\" type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"\
  282. 0.48 0 0.091\"/>\n <parent link=\"base_link\"/>\n <child link=\"front_bumper_link\"\
  283. />\n </joint>\n <!-- Spawn rear bumper link -->\n <link name=\"rear_bumper_link\"\
  284. >\n <visual>\n <geometry>\n <mesh filename=\"package://husky_description/meshes/bumper.dae\"\
  285. />\n </geometry>\n </visual>\n </link>\n <!-- Attach rear bumper -->\n\
  286. \ <joint name=\"rear_bumper\" type=\"fixed\">\n <origin rpy=\"0 0 3.14159\"\
  287. \ xyz=\"-0.48 0 0.091\"/>\n <parent link=\"base_link\"/>\n <child link=\"\
  288. rear_bumper_link\"/>\n </joint>\n <link name=\"top_plate_link\">\n <visual>\n\
  289. \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"\
  290. package://husky_description/meshes/top_plate.dae\"/>\n </geometry>\n </visual>\n\
  291. \ <collision>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n\
  292. \ <mesh filename=\"package://husky_description/meshes/top_plate.stl\"/>\n\
  293. \ </geometry>\n </collision>\n </link>\n <!-- Attach top plate -->\n \
  294. \ <joint name=\"top_plate_joint\" type=\"fixed\">\n <parent link=\"base_link\"\
  295. />\n <child link=\"top_plate_link\"/>\n <origin rpy=\"0 0 0\" xyz=\"0.0812\
  296. \ 0 0.245\"/>\n </joint>\n <!-- Top plate front link -->\n <joint name=\"top_plate_front_joint\"\
  297. \ type=\"fixed\">\n <parent link=\"top_plate_link\"/>\n <child link=\"top_plate_front_link\"\
  298. />\n <origin rpy=\"0 0 0\" xyz=\"0.36367 0 0.00639\"/>\n </joint>\n <!-- Top\
  299. \ plate rear link-->\n <joint name=\"top_plate_rear_joint\" type=\"fixed\">\n \
  300. \ <parent link=\"top_plate_link\"/>\n <child link=\"top_plate_rear_link\"/>\n\
  301. \ <origin rpy=\"0 0 0\" xyz=\"-0.36633 0 0.00639\"/>\n </joint>\n <link name=\"\
  302. top_plate_front_link\"/>\n <link name=\"top_plate_rear_link\"/>\n <gazebo>\n \
  303. \ <plugin filename=\"libgazebo_ros_control.so\" name=\"gazebo_ros_control\">\n\
  304. \ <robotNamespace>/</robotNamespace>\n </plugin>\n </gazebo>\n <gazebo>\n\
  305. \ <plugin filename=\"libhector_gazebo_ros_imu.so\" name=\"imu_controller\">\n\
  306. \ <robotNamespace>/</robotNamespace>\n <updateRate>50.0</updateRate>\n\
  307. \ <bodyName>base_link</bodyName>\n <topicName>imu/data</topicName>\n \
  308. \ <accelDrift>0.005 0.005 0.005</accelDrift>\n <accelGaussianNoise>0.005\
  309. \ 0.005 0.005</accelGaussianNoise>\n <rateDrift>0.005 0.005 0.005 </rateDrift>\n\
  310. \ <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>\n <headingDrift>0.005</headingDrift>\n\
  311. \ <headingGaussianNoise>0.005</headingGaussianNoise>\n </plugin>\n </gazebo>\n\
  312. \ <gazebo>\n <plugin filename=\"libhector_gazebo_ros_gps.so\" name=\"gps_controller\"\
  313. >\n <robotNamespace>/</robotNamespace>\n <updateRate>40</updateRate>\n\
  314. \ <bodyName>base_link</bodyName>\n <frameId>base_link</frameId>\n \
  315. \ <topicName>navsat/fix</topicName>\n <velocityTopicName>navsat/vel</velocityTopicName>\n\
  316. \ <referenceLatitude>49.9</referenceLatitude>\n <referenceLongitude>8.9</referenceLongitude>\n\
  317. \ <referenceHeading>0</referenceHeading>\n <referenceAltitude>0</referenceAltitude>\n\
  318. \ <drift>0.0001 0.0001 0.0001</drift>\n </plugin>\n </gazebo>\n <joint\
  319. \ name=\"velodyne_base_mount_joint\" type=\"fixed\">\n <origin rpy=\"0 0 0\"\
  320. \ xyz=\"0.0 0.0 2.00635\"/>\n <parent link=\"support_base\"/>\n <child link=\"\
  321. velodyne_base_link\"/>\n </joint>\n <link name=\"velodyne_base_link\">\n <inertial>\n\
  322. \ <mass value=\"0.83\"/>\n <origin xyz=\"0 0 0.03585\"/>\n <inertia\
  323. \ ixx=\"0.000908059425\" ixy=\"0\" ixz=\"0\" iyy=\"0.000908059425\" iyz=\"0\" izz=\"\
  324. 0.0011049624\"/>\n </inertial>\n <visual>\n <geometry>\n <mesh\
  325. \ filename=\"package://velodyne_description/meshes/VLP16_base_1.dae\"/>\n </geometry>\n\
  326. \ </visual>\n <visual>\n <geometry>\n <mesh filename=\"package://velodyne_description/meshes/VLP16_base_2.dae\"\
  327. />\n </geometry>\n </visual>\n <collision>\n <origin rpy=\"0 0 0\"\
  328. \ xyz=\"0 0 0.03585\"/>\n <geometry>\n <cylinder length=\"0.0717\" radius=\"\
  329. 0.0516\"/>\n </geometry>\n </collision>\n </link>\n <joint name=\"velodyne_base_scan_joint\"\
  330. \ type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0.0377\"/>\n <parent link=\"\
  331. velodyne_base_link\"/>\n <child link=\"velodyne\"/>\n </joint>\n <link name=\"\
  332. velodyne\">\n <inertial>\n <mass value=\"0.01\"/>\n <origin xyz=\"\
  333. 0 0 0\"/>\n <inertia ixx=\"1e-7\" ixy=\"0\" ixz=\"0\" iyy=\"1e-7\" iyz=\"0\"\
  334. \ izz=\"1e-7\"/>\n </inertial>\n <visual>\n <origin xyz=\"0 0 -0.0377\"\
  335. />\n <geometry>\n <mesh filename=\"package://velodyne_description/meshes/VLP16_scan.dae\"\
  336. />\n </geometry>\n </visual>\n </link>\n <!-- Gazebo requires the velodyne_gazebo_plugins\
  337. \ package -->\n <gazebo reference=\"velodyne\">\n <sensor name=\"velodyne-VLP16\"\
  338. \ type=\"ray\">\n <pose>0 0 0 0 0 0</pose>\n <visualize>false</visualize>\n\
  339. \ <update_rate>10</update_rate>\n <ray>\n <scan>\n <horizontal>\n\
  340. \ <samples>440</samples>\n <resolution>1</resolution>\n \
  341. \ <min_angle>-3.14159265359</min_angle>\n <max_angle>3.14159265359</max_angle>\n\
  342. \ </horizontal>\n <vertical>\n <samples>16</samples>\n\
  343. \ <resolution>1</resolution>\n <min_angle>-0.261799387799</min_angle>\n\
  344. \ <max_angle> 0.261799387799</max_angle>\n </vertical>\n \
  345. \ </scan>\n <range>\n <min>0.3</min>\n <max>131.0</max>\n\
  346. \ <resolution>0.001</resolution>\n </range>\n <noise>\n \
  347. \ <type>gaussian</type>\n <mean>0.0</mean>\n <stddev>0.0</stddev>\n\
  348. \ </noise>\n </ray>\n <plugin filename=\"libgazebo_ros_velodyne_laser.so\"\
  349. \ name=\"gazebo_ros_laser_controller\">\n <topicName>/lidar/points2</topicName>\n\
  350. \ <frameName>velodyne</frameName>\n <min_range>0.9</min_range>\n \
  351. \ <max_range>130.0</max_range>\n <gaussianNoise>0.008</gaussianNoise>\n\
  352. \ </plugin>\n </sensor>\n </gazebo>\n <material name=\"black\">\n <color\
  353. \ rgba=\"0.0 0.0 1.0 1\"/>\n </material>\n <link name=\"support_base\">\n <visual>\n\
  354. \ <geometry>\n <cylinder length=\"2.0\" radius=\"0.06\"/>\n </geometry>\n\
  355. \ <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 1.00635\"/>\n <material name=\"\
  356. black\"/>\n </visual>\n <!-- <inertial>\n <mass value=\"0\" />\n \
  357. \ <inertia ixx=\"0.0\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0\" iyz=\"0.0\" izz=\"0.0\"\
  358. \ />\n </inertial> -->\n </link>\n <joint name=\"base_to_support\" type=\"\
  359. fixed\">\n <parent link=\"top_plate_link\"/>\n <child link=\"support_base\"\
  360. />\n <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.00635\"/>\n </joint>\n <link name=\"\
  361. bumblebee2\">\n <visual>\n <origin rpy=\"-1.5707 0 -1.5707\" xyz=\"0 0 0\"\
  362. />\n <geometry>\n <mesh filename=\"package://pointgrey_camera_description/meshes/pointgrey_bumblebee2.dae\"\
  363. />\n </geometry>\n </visual>\n <collision>\n <origin rpy=\"0 0 0\"\
  364. \ xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"0.04740 0.157 0.036\"/>\n\
  365. \ </geometry>\n </collision>\n <inertial>\n <mass value=\"0.342\"\
  366. />\n <inertia ixx=\"0.00010096866\" ixy=\"0\" ixz=\"0\" iyy=\"0.00076652916\"\
  367. \ iyz=\"0\" izz=\"0.0007394325\"/>\n </inertial>\n </link>\n <link name=\"\
  368. bumblebee2_optical\">\n <inertial>\n <mass value=\"1E-5\"/>\n <inertia\
  369. \ ixx=\"1E-10\" ixy=\"0\" ixz=\"0\" iyy=\"1E-10\" iyz=\"0\" izz=\"1E-10\"/>\n \
  370. \ </inertial>\n </link>\n <joint name=\"bumblebee2_optical_joint\" type=\"fixed\"\
  371. >\n <origin rpy=\"-1.570796 0 -1.570796\" xyz=\"0 0 0\"/>\n <parent link=\"\
  372. bumblebee2\"/>\n <child link=\"bumblebee2_optical\"/>\n </joint>\n <gazebo\
  373. \ reference=\"bumblebee2_optical\">\n <sensor name=\"stereo_camera\" type=\"\
  374. multicamera\">\n <update_rate>20</update_rate>\n <camera name=\"left\"\
  375. >\n <pose>0 0 0 0 -1.5707 1.5707</pose>\n <horizontal_fov>1.15191730632</horizontal_fov>\n\
  376. \ <image>\n <width>1024</width>\n <height>768</height>\n\
  377. \ <format>R8G8B8</format>\n </image>\n <clip>\n \
  378. \ <near>0.5</near>\n <far>300</far>\n </clip>\n <noise>\n\
  379. \ <type>gaussian</type>\n <mean>0.0</mean>\n <stddev>0.007</stddev>\n\
  380. \ </noise>\n </camera>\n <camera name=\"right\">\n <pose>0.12\
  381. \ 0 0 0 -1.5707 1.5707</pose>\n <horizontal_fov>1.15191730632</horizontal_fov>\n\
  382. \ <image>\n <width>1024</width>\n <height>768</height>\n\
  383. \ <format>R8G8B8</format>\n </image>\n <clip>\n \
  384. \ <near>0.5</near>\n <far>300</far>\n </clip>\n <noise>\n\
  385. \ <type>gaussian</type>\n <mean>0.0</mean>\n <stddev>0.007</stddev>\n\
  386. \ </noise>\n </camera>\n <plugin filename=\"libgazebo_ros_multicamera.so\"\
  387. \ name=\"stereo_camera_controller\">\n <alwaysOn>true</alwaysOn>\n \
  388. \ <cameraName>stereo_camera</cameraName>\n <imageTopicName>image_raw</imageTopicName>\n\
  389. \ <cameraInfoTopicName>camera_info</cameraInfoTopicName>\n <frameName>bumblebee2_optical</frameName>\n\
  390. \ <hackBaseline>0.12</hackBaseline>\n <!-- NOTE: Distortion is currently\
  391. \ unused -->\n <distortionK1>0.0</distortionK1>\n <distortionK2>0.0</distortionK2>\n\
  392. \ <distortionK3>0.0</distortionK3>\n <distortionT1>0.0</distortionT1>\n\
  393. \ <distortionT2>0.0</distortionT2>\n </plugin>\n </sensor>\n </gazebo>\n\
  394. \ <joint name=\"support_camera_joint\" type=\"fixed\">\n <origin rpy=\"0 0 0\"\
  395. \ xyz=\"0.06 0.02 2.00635\"/>\n <parent link=\"support_base\"/>\n <child link=\"\
  396. bumblebee2\"/>\n </joint>\n</robot>\n\n"
  397. rosdistro: 'melodic
  398.  
  399. '
  400. roslaunch:
  401. uris:
  402. host_4de3ee1f254b__33205: http://4de3ee1f254b:33205/
  403. host_4de3ee1f254b__40387: http://4de3ee1f254b:40387/
  404. rosversion: '1.14.5
  405.  
  406. '
  407. rtabmap:
  408. BRIEF:
  409. Bytes: '32'
  410. BRISK:
  411. Octaves: '3'
  412. PatternScale: '1'
  413. Thresh: '30'
  414. Bayes:
  415. FullPredictionUpdate: 'false'
  416. PredictionLC: 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06
  417. 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23
  418. VirtualPlacePriorThr: '0.9'
  419. DbSqlite3:
  420. CacheSize: '10000'
  421. InMemory: 'false'
  422. JournalMode: '3'
  423. Synchronous: '0'
  424. TempStore: '2'
  425. FAST:
  426. Gpu: 'false'
  427. GpuKeypointsRatio: '0.05'
  428. GridCols: '0'
  429. GridRows: '0'
  430. MaxThreshold: '200'
  431. MinThreshold: '7'
  432. NonmaxSuppression: 'true'
  433. Threshold: '20'
  434. FREAK:
  435. NOctaves: '4'
  436. OrientationNormalized: 'true'
  437. PatternScale: '22'
  438. ScaleNormalized: 'true'
  439. GFTT:
  440. BlockSize: '3'
  441. K: '0.04'
  442. MinDistance: '3'
  443. QualityLevel: '0.001'
  444. UseHarrisDetector: 'false'
  445. GTSAM:
  446. Optimizer: '1'
  447. Grid:
  448. 3D: 'false'
  449. CellSize: '0.5'
  450. ClusterRadius: '2'
  451. DepthDecimation: '4'
  452. DepthRoiRatios: 0.0 0.0 0.0 0.0
  453. FlatObstacleDetected: 'true'
  454. FootprintHeight: '0.0'
  455. FootprintLength: '0.0'
  456. FootprintWidth: '0.0'
  457. FromDepth: 'false'
  458. GroundIsObstacle: 'false'
  459. MapFrameProjection: 'false'
  460. MaxGroundAngle: '45'
  461. MaxGroundHeight: '0.0'
  462. MaxObstacleHeight: '1.5'
  463. MinClusterSize: '10'
  464. MinGroundHeight: '0.0'
  465. NoiseFilteringMinNeighbors: '5'
  466. NoiseFilteringRadius: '0.0'
  467. NormalK: '20'
  468. NormalsSegmentation: 'true'
  469. PreVoxelFiltering: 'true'
  470. RangeMax: '0'
  471. RangeMin: '0.0'
  472. RayTracing: 'true'
  473. Scan2dUnknownSpaceFilled: 'false'
  474. ScanDecimation: '1'
  475. GridGlobal:
  476. Eroded: 'false'
  477. FootprintRadius: '0.0'
  478. FullUpdate: 'true'
  479. MaxNodes: '0'
  480. MinSize: '0.0'
  481. OccupancyThr: '0.5'
  482. ProbClampingMax: '0.971'
  483. ProbClampingMin: '0.1192'
  484. ProbHit: '0.7'
  485. ProbMiss: '0.4'
  486. UpdateError: '0.01'
  487. Icp:
  488. CorrespondenceRatio: '0.1'
  489. DownsamplingStep: '1'
  490. Epsilon: '0'
  491. Iterations: '30'
  492. MaxCorrespondenceDistance: '0.05'
  493. MaxRotation: '0.78'
  494. MaxTranslation: '0.2'
  495. PM: 'false'
  496. PMConfig: ''
  497. PMMatcherEpsilon: '0.0'
  498. PMMatcherKnn: '1'
  499. PMOutlierRatio: '0.95'
  500. PointToPlane: 'false'
  501. PointToPlaneK: '5'
  502. PointToPlaneMinComplexity: '0.02'
  503. PointToPlaneRadius: '1.0'
  504. VoxelSize: '0.0'
  505. ImuFilter:
  506. ComplementaryBiasAlpha: '0.01'
  507. ComplementaryDoAdpativeGain: 'true'
  508. ComplementaryDoBiasEstimation: 'true'
  509. ComplementaryGainAcc: '0.01'
  510. MadgwickGain: '0.1'
  511. MadgwickZeta: '0.0'
  512. KAZE:
  513. Diffusivity: '1'
  514. Extended: 'false'
  515. NOctaveLayers: '4'
  516. NOctaves: '4'
  517. Threshold: '0.001'
  518. Upright: 'false'
  519. Kp:
  520. BadSignRatio: '0.5'
  521. DetectorStrategy: '8'
  522. DictionaryPath: ''
  523. FlannRebalancingFactor: '2.0'
  524. GridCols: '1'
  525. GridRows: '1'
  526. IncrementalDictionary: 'true'
  527. IncrementalFlann: 'true'
  528. MaxDepth: '0'
  529. MaxFeatures: '500'
  530. MinDepth: '0'
  531. NNStrategy: '1'
  532. NewWordsComparedTogether: 'true'
  533. NndrRatio: '0.8'
  534. Parallelized: 'true'
  535. RoiRatios: 0.0 0.0 0.0 0.0
  536. SubPixEps: '0.02'
  537. SubPixIterations: '0'
  538. SubPixWinSize: '3'
  539. TfIdfLikelihoodUsed: 'true'
  540. Marker:
  541. CornerRefinementMethod: '0'
  542. Dictionary: '0'
  543. Length: '0'
  544. MaxDepthError: '0.01'
  545. VarianceAngular: '0.01'
  546. VarianceLinear: '0.001'
  547. Mem:
  548. BadSignaturesIgnored: 'false'
  549. BinDataKept: 'true'
  550. CompressionParallelized: 'true'
  551. CovOffDiagIgnored: 'true'
  552. DepthAsMask: 'true'
  553. GenerateIds: 'true'
  554. ImageCompressionFormat: .jpg
  555. ImageKept: 'false'
  556. ImagePostDecimation: '1'
  557. ImagePreDecimation: '1'
  558. IncrementalMemory: 'true'
  559. InitWMWithAllNodes: 'false'
  560. IntermediateNodeDataKept: 'false'
  561. LaserScanDownsampleStepSize: '1'
  562. LaserScanNormalK: '0'
  563. LaserScanNormalRadius: '0.0'
  564. LaserScanVoxelSize: '0.0'
  565. MapLabelsAdded: 'true'
  566. NotLinkedNodesKept: 'false'
  567. RawDescriptorsKept: 'true'
  568. RecentWmRatio: '0.2'
  569. ReduceGraph: 'false'
  570. RehearsalIdUpdatedToNewOne: 'false'
  571. RehearsalSimilarity: '0.6'
  572. RehearsalWeightIgnoredWhileMoving: 'false'
  573. STMSize: '30'
  574. SaveDepth16Format: 'false'
  575. TransferSortingByWeightId: 'false'
  576. UseOdomFeatures: 'true'
  577. UseOdomGravity: 'false'
  578. ORB:
  579. EdgeThreshold: '31'
  580. FirstLevel: '0'
  581. Gpu: 'false'
  582. NLevels: '8'
  583. PatchSize: '31'
  584. ScaleFactor: '1.2'
  585. ScoreType: '0'
  586. WTA_K: '2'
  587. Optimizer:
  588. Epsilon: '0.0'
  589. GravitySigma: '0.0'
  590. Iterations: '20'
  591. LandmarksIgnored: 'false'
  592. PriorsIgnored: 'true'
  593. Robust: 'false'
  594. Strategy: '1'
  595. VarianceIgnored: 'false'
  596. RGBD:
  597. AngularSpeedUpdate: '0.0'
  598. AngularUpdate: '0.05'
  599. CreateOccupancyGrid: 'true'
  600. Enabled: 'true'
  601. GoalReachedRadius: '0.5'
  602. GoalsSavedInUserData: 'false'
  603. LinearSpeedUpdate: '0.0'
  604. LinearUpdate: '0.1'
  605. LocalBundleOnLoopClosure: 'false'
  606. LocalImmunizationRatio: '0.25'
  607. LocalRadius: '10'
  608. LoopClosureReextractFeatures: 'false'
  609. LoopCovLimited: 'false'
  610. MarkerDetection: 'false'
  611. MaxLocalRetrieved: '2'
  612. MaxOdomCacheSize: '0'
  613. NeighborLinkRefining: 'false'
  614. NewMapOdomChangeDistance: '0'
  615. OptimizeFromGraphEnd: 'false'
  616. OptimizeMaxError: '3.0'
  617. PlanAngularVelocity: '0'
  618. PlanLinearVelocity: '0'
  619. PlanStuckIterations: '0'
  620. ProximityAngle: '45'
  621. ProximityBySpace: 'true'
  622. ProximityByTime: 'false'
  623. ProximityMaxGraphDepth: '0'
  624. ProximityMaxPaths: '3'
  625. ProximityPathFilteringRadius: '1'
  626. ProximityPathMaxNeighbors: '1'
  627. ProximityPathRawPosesUsed: 'true'
  628. SavedLocalizationIgnored: 'false'
  629. ScanMatchingIdsSavedInLinks: 'true'
  630. Reg:
  631. Force3DoF: 'false'
  632. RepeatOnce: 'true'
  633. Strategy: '1'
  634. Rtabmap:
  635. ComputeRMSE: 'true'
  636. CreateIntermediateNodes: 'false'
  637. DetectionRate: '1'
  638. ImageBufferSize: '1'
  639. ImagesAlreadyRectified: 'true'
  640. LoopGPS: 'true'
  641. LoopRatio: '0'
  642. LoopThr: '0.11'
  643. MaxRetrieved: '2'
  644. MemoryThr: '0'
  645. PublishLastSignature: 'true'
  646. PublishLikelihood: 'true'
  647. PublishPdf: 'true'
  648. PublishRAMUsage: 'false'
  649. PublishStats: 'true'
  650. RectifyOnlyFeatures: 'false'
  651. SaveWMState: 'false'
  652. StartNewMapOnGoodSignature: 'false'
  653. StartNewMapOnLoopClosure: 'false'
  654. StatisticLogged: 'false'
  655. StatisticLoggedHeaders: 'true'
  656. StatisticLogsBufferedInRAM: 'true'
  657. TimeThr: '0'
  658. WorkingDirectory: /home/ros/.ros
  659. SIFT:
  660. ContrastThreshold: '0.04'
  661. EdgeThreshold: '10'
  662. NFeatures: '0'
  663. NOctaveLayers: '3'
  664. Sigma: '1.6'
  665. SURF:
  666. Extended: 'false'
  667. GpuKeypointsRatio: '0.01'
  668. GpuVersion: 'false'
  669. HessianThreshold: '500'
  670. OctaveLayers: '2'
  671. Octaves: '4'
  672. Upright: 'false'
  673. Stereo:
  674. DenseStrategy: '0'
  675. Eps: '0.01'
  676. Iterations: '30'
  677. MaxDisparity: '128.0'
  678. MaxLevel: '5'
  679. MinDisparity: '0.5'
  680. OpticalFlow: 'true'
  681. SSD: 'true'
  682. WinHeight: '3'
  683. WinWidth: '15'
  684. StereoBM:
  685. BlockSize: '15'
  686. Disp12MaxDiff: '-1'
  687. MinDisparity: '0'
  688. NumDisparities: '128'
  689. PreFilterCap: '31'
  690. PreFilterSize: '9'
  691. SpeckleRange: '4'
  692. SpeckleWindowSize: '100'
  693. TextureThreshold: '10'
  694. UniquenessRatio: '15'
  695. StereoSGBM:
  696. BlockSize: '15'
  697. Disp12MaxDiff: '1'
  698. MinDisparity: '0'
  699. Mode: '0'
  700. NumDisparities: '128'
  701. P1: '2'
  702. P2: '5'
  703. PreFilterCap: '31'
  704. SpeckleRange: '4'
  705. SpeckleWindowSize: '100'
  706. UniquenessRatio: '20'
  707. VhEp:
  708. Enabled: 'false'
  709. MatchCountMin: '8'
  710. RansacParam1: '3'
  711. RansacParam2: '0.99'
  712. Vis:
  713. BundleAdjustment: '1'
  714. CorFlowEps: '0.01'
  715. CorFlowIterations: '30'
  716. CorFlowMaxLevel: '3'
  717. CorFlowWinSize: '16'
  718. CorGuessMatchToProjection: 'false'
  719. CorGuessWinSize: '20'
  720. CorNNDR: '0.6'
  721. CorNNType: '1'
  722. CorType: '0'
  723. DepthAsMask: 'true'
  724. EpipolarGeometryVar: '0.02'
  725. EstimationType: '1'
  726. FeatureType: '8'
  727. ForwardEstOnly: 'true'
  728. GridCols: '1'
  729. GridRows: '1'
  730. InlierDistance: '0.1'
  731. Iterations: '300'
  732. MaxDepth: '0'
  733. MaxFeatures: '1000'
  734. MinDepth: '0'
  735. MinInliers: '20'
  736. PnPFlags: '0'
  737. PnPRefineIterations: '0'
  738. PnPReprojError: '2'
  739. RefineIterations: '5'
  740. RoiRatios: 0.0 0.0 0.0 0.0
  741. SubPixEps: '0.02'
  742. SubPixIterations: '0'
  743. SubPixWinSize: '3'
  744. g2o:
  745. Baseline: '0.075'
  746. Optimizer: '0'
  747. PixelVariance: '1.0'
  748. RobustKernelDelta: '8'
  749. Solver: '0'
  750. is_rtabmap_paused: false
  751. rtabmap:
  752. Grid:
  753. 3D: 'false'
  754. CellSize: '0.5'
  755. ClusterRadius: '2'
  756. GroundIsObstacle: 'false'
  757. MaxObstacleHeight: '1.5'
  758. RangeMax: '0'
  759. RayTracing: 'true'
  760. Mem:
  761. NotLinkedNodesKept: 'false'
  762. STMSize: '30'
  763. RGBD:
  764. AngularUpdate: '0.05'
  765. NeighborLinkRefining: 'false'
  766. ProximityMaxGraphDepth: '0'
  767. ProximityPathMaxNeighbors: '1'
  768. Reg:
  769. Strategy: '1'
  770. Rtabmap:
  771. DetectionRate: '1'
  772. approx_sync: true
  773. frame_id: base_link
  774. odom_frame_id: base_link
  775. subscribe_depth: false
  776. subscribe_rgb: false
  777. subscribe_rgbd: false
  778. subscribe_scan_cloud: true
  779. run_id: a5600a5c-a12e-11ea-8622-0242ac110002
  780. stereo_camera:
  781. left:
  782. image_raw:
  783. compressed:
  784. format: jpeg
  785. jpeg_quality: 80
  786. png_level: 9
  787. compressedDepth:
  788. depth_max: 10.0
  789. depth_quantization: 100.0
  790. png_level: 9
  791. theora:
  792. keyframe_frequency: 64
  793. optimize_for: 1
  794. quality: 31
  795. target_bitrate: 800000
  796. imager_rate: 2.0
  797. right:
  798. image_raw:
  799. compressed:
  800. format: jpeg
  801. jpeg_quality: 80
  802. png_level: 9
  803. compressedDepth:
  804. depth_max: 10.0
  805. depth_quantization: 100.0
  806. png_level: 9
  807. theora:
  808. keyframe_frequency: 64
  809. optimize_for: 1
  810. quality: 31
  811. target_bitrate: 800000
  812. imager_rate: 2.0
  813. stop_distance: 7
  814. twist_mux:
  815. locks:
  816. - name: e_stop
  817. priority: 255
  818. timeout: 0.0
  819. topic: e_stop
  820. topics:
  821. - name: joy
  822. priority: 10
  823. timeout: 0.5
  824. topic: joy_teleop/cmd_vel
  825. - name: interactive_marker
  826. priority: 8
  827. timeout: 0.5
  828. topic: twist_marker_server/cmd_vel
  829. - name: external
  830. priority: 1
  831. timeout: 0.5
  832. topic: cmd_vel
  833. use_sim_time: true
  834. xdiff_threshold: 3
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!