From 1a79a5b634bab5fa59b235d05c10be224e774f5f Mon Sep 17 00:00:00 2001
From: lingbomeng <luke.lb.meng@gmail.com>
Date: Sun, 8 Oct 2023 12:03:18 +0800
Subject: [PATCH] Update video demo.
---
README.md | 2 +-
rviz_cfg/loam_unilidar_default.rviz | 367 ++++++++++++++++++++++++++++
2 files changed, 368 insertions(+), 1 deletion(-)
create mode 100755 rviz_cfg/loam_unilidar_default.rviz
diff --git a/README.md b/README.md
index c5826cb..2db74a6 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ If you want to learn more about our lidar, you can refer to the official website
## Video Demo
-[](https://youtu.be/Wx0tLOLD5MY?si=wZE6NGqLUGQdotzJ "SLAM based on Unitree 4D LiDAR L1")
+[](https://youtu.be/Wx0tLOLD5MY?si=EyNL3Dvhh5ci692k "SLAM based on Unitree 4D LiDAR L1")
## Prerequisites
diff --git a/rviz_cfg/loam_unilidar_default.rviz b/rviz_cfg/loam_unilidar_default.rviz
new file mode 100755
index 0000000..9777907
--- /dev/null
+++ b/rviz_cfg/loam_unilidar_default.rviz
@@ -0,0 +1,367 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Grid1
+ - /Axes1
+ - /mapping1
+ - /mapping1/surround1
+ - /mapping1/currPoints1
+ - /mapping1/currPoints1/Autocompute Value Bounds1
+ - /Odometry1/Odometry1
+ - /Odometry1/Odometry1/Shape1
+ - /Odometry1/Odometry1/Covariance1
+ - /Odometry1/Odometry1/Covariance1/Position1
+ - /Odometry1/Odometry1/Covariance1/Orientation1
+ - /Axes2
+ - /Path1
+ - /MarkerArray1/Namespaces1
+ Splitter Ratio: 0.5094339847564697
+ Tree Height: 865
+ - 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
+ Name: Time
+ SyncMode: 0
+ SyncSource: currPoints
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 1
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 85; 87; 83
+ 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: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz/Axes
+ Enabled: true
+ Length: 0.5
+ Name: Axes
+ Radius: 0.05999999865889549
+ Reference Frame: aft_mapped
+ Show Trail: false
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 238; 238; 236
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 238; 238; 236
+ Name: surround
+ Position Transformer: XYZ
+ Queue Size: 1
+ Selectable: false
+ Size (Pixels): 3
+ Size (m): 0.05000000074505806
+ Style: Points
+ Topic: /cloud_registered
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.5
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 2.63232421875
+ Min Value: -1.107768177986145
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ Decay Time: 1000
+ Enabled: true
+ Invert Rainbow: true
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: currPoints
+ Position Transformer: XYZ
+ Queue Size: 100000
+ Selectable: true
+ Size (Pixels): 1.5
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /cloud_registered
+ Unreliable: false
+ 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/PointCloud2
+ Color: 255; 0; 0
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.10000000149011612
+ Style: Flat Squares
+ Topic: /Laser_map
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ Enabled: true
+ Name: mapping
+ - 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: true
+ Enabled: true
+ Keep: 1
+ Name: Odometry
+ Position Tolerance: 0.0010000000474974513
+ Queue Size: 10
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.20000000298023224
+ Color: 255; 85; 0
+ Head Length: 0
+ Head Radius: 0
+ Shaft Length: 0.05000000074505806
+ Shaft Radius: 0.05000000074505806
+ Value: Axes
+ Topic: /Odometry
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Odometry
+ - Alpha: 1
+ Class: rviz/Axes
+ Enabled: true
+ Length: 1
+ Name: Axes
+ Radius: 0.10000000149011612
+ Reference Frame: <Fixed Frame>
+ Show Trail: false
+ Value: true
+ - Alpha: 0
+ Buffer Length: 2
+ Class: rviz/Path
+ Color: 25; 255; 255
+ Enabled: true
+ Head Diameter: 0
+ Head Length: 0
+ Length: 0.30000001192092896
+ Line Style: Billboards
+ Line Width: 0.07999999821186066
+ Name: Path
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 25; 255; 255
+ Pose Style: None
+ Queue Size: 10
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.4000000059604645
+ Shaft Length: 0.4000000059604645
+ Topic: /path
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: false
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 239; 41; 41
+ Max Intensity: 0
+ Min Color: 239; 41; 41
+ Min Intensity: 0
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 4
+ Size (m): 0.30000001192092896
+ Style: Spheres
+ Topic: /cloud_effected
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 13.139549255371094
+ Min Value: -32.08251953125
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 138; 226; 52
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 138; 226; 52
+ Min Color: 138; 226; 52
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.10000000149011612
+ Style: Flat Squares
+ Topic: /Laser_map
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /MarkerArray
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ Enabled: true
+ Global Options:
+ Background Color: 0; 0; 0
+ Default Light: true
+ Fixed Frame: camera_init
+ Frame Rate: 10
+ 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/XYOrbit
+ Distance: 10.007177352905273
+ 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: -1.3620343208312988
+ Y: -2.0393662452697754
+ Z: -2.1677402401110157e-05
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7297971248626709
+ Target Frame: aft_mapped
+ Yaw: 3.9784696102142334
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: true
+ Height: 1016
+ Hide Left Dock: true
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd0000000400000000000001750000039efc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c7000000000000000000000001000001520000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e00000052fc0100000002fb0000000800540069006d006500000000000000073e0000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000073e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1854
+ X: 1986
+ Y: 27