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add launch/config/hongo.rviz launch/start_campus_hongo.launch src/hongo-scene.l tools/publish_ raw_maps/hongo-1.00.pgm raw_maps/hongo-1.00.yaml
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‎jsk_maps/launch/config/hongo.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Map1
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- /MarkerArray1/Namespaces1
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Splitter Ratio: 0.5029411911964417
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Tree Height: 549
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng2/1F
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Topic: /eng2/1f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng2/2F
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Topic: /eng2/2f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng2/3F
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Topic: /eng2/3f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng2/7F
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Topic: /eng2/7f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng2/8F
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Topic: /eng2/8f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng8/B1F
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Topic: /eng8/b1f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng8/1F
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Topic: /eng8/1f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Eng8/6F
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Topic: /eng8/6f
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.10000000149011612
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Class: rviz/Map
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Color Scheme: raw
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /hongo
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Class: jsk_rviz_plugin/PictogramArray
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Enabled: true
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Name: PictogramArray
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Topic: /spots_pictogram
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Unreliable: false
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /spots_marker_array
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Name: MarkerArray
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Namespaces:
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pin_body: true
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pin_head: true
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pin_label: true
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Queue Size: 100
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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eng2:
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Value: true
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eng2/1f:
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Value: true
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eng2/2f:
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Value: true
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eng2/3f:
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Value: true
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eng2/7f:
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Value: true
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eng2/7f/73B2:
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Value: true
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eng2/8f:
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Value: true
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eng8:
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Value: true
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eng8/1f:
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Value: true
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eng8/6f:
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Value: true
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eng8/6f/610:
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Value: true
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eng8/b1f:
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Value: true
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hongo:
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Value: true
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map:
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Value: true
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world:
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Value: true
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Marker Scale: 10
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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world:
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eng2:
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eng2/1f:
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{}
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eng2/2f:
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{}
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eng2/3f:
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{}
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eng2/7f:
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eng2/7f/73B2:
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{}
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map:
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{}
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eng2/8f:
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{}
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eng8:
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eng8/1f:
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{}
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eng8/6f:
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eng8/6f/610:
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{}
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eng8/b1f:
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{}
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hongo:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 359.2821044921875
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 29.98914337158203
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Y: -116.84634399414062
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Z: -40.61910629272461
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.3403984308242798
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 5.188566207885742
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 846
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000282000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1267
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X: 67
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Y: 27

‎jsk_maps/launch/start_campus_hongo.launch

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<launch>
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<arg name="MACHINE" default="localhost" />
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<arg name="keepout" default="false" />
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<arg name="launch_rviz" default="true" />
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<arg name="launch_map_server" default="true" />
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<arg name="use_machine" default="true" />
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<arg name="use_pictogram" default="true" />
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<machine name="localhost" address="localhost" if="$(arg use_machine)" />
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<node pkg="tf" type="static_transform_publisher" name="$(anon hongo_tf)"
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args="-300 -300 0 0 0 0 /world /hongo 100"/>
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<node name="$(anon map_server)" pkg="map_server" type="map_server"
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args="$(find jsk_maps)/raw_maps/hongo-1.00.yaml" >
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<remap from="map" to="/hongo"/>
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<param name="frame_id" value="/hongo"/>
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</node>
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<node name="publish_spot_hongo" pkg="roseus" type="roseus"
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args="$(find jsk_maps)/tools/publish_campus.l"
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machine="$(arg MACHINE)"
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output="screen" />
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<!-- <include file="$(find jsk_maps)/launch/start_map_eng2.launch" /> -->
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<node pkg="tf" type="static_transform_publisher" name="$(anon eng2_tfA)"
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args="-10 200 10 -1.39626 0 0 /world /eng2 100"/> <!-- see bld-eng2 location in (make-hongo-campus) -->
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<include file="$(find jsk_maps)/launch/include/start_map_eng2_main.xml">
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<arg name="prefix" value="eng2_" />
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<arg name="keepout" value="$(arg keepout)"/>
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<arg name="launch_map_server" value="$(arg launch_map_server)"/>
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<arg name="launch_map_select" value="false"/>
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</include>
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<node pkg="tf" type="static_transform_publisher" name="$(anon eng2_tfB)"
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args="0 6.9 0 0 0 0 /eng2/7f /eng2/7f/73B2 100"/>
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<node name="publish_spot_eng2" pkg="roseus" type="roseus"
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args="$(find jsk_maps)/tools/publish_spot.l"
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machine="$(arg MACHINE)"
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output="screen" >
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<param name="~scene" value="eng2" />
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<param name="~use_pictogram" value="$(arg use_pictogram)" />
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</node>
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<!-- <include file="$(find jsk_maps)/launch/start_map_eng8.launch" > -->
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<node pkg="tf" type="static_transform_publisher" name="$(anon eng8_tfA)"
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args="-140 220 10 1.74533 0 0 /world /eng8 100"/> <!-- see bld-eng8 location in (make-hongo-campus) -->
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<include file="$(find jsk_maps)/launch/include/start_map_eng8_main.xml">
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<arg name="prefix" value="eng8_" />
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<arg name="keepout" value="$(arg keepout)"/>
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<arg name="launch_map_server" value="$(arg launch_map_server)"/>
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<arg name="launch_map_select" value="false"/>
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</include>
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<node pkg="tf" type="static_transform_publisher" name="$(anon eng8_tfB)"
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args="0 -13.678 0 0 0 0 /eng8/6f /eng8/6f/610 100" />
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<node name="publish_spot_eng8" pkg="roseus" type="roseus"
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args="$(find jsk_maps)/tools/publish_spot.l"
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machine="$(arg MACHINE)"
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output="screen" >
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<param name="~scene" value="eng8" />
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<param name="~use_pictogram" value="$(arg use_pictogram)" />
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</node>
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<!-- for initialpose topic -->
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<node name="initialpose3d" pkg="jsk_maps" type="initialpose3d.py">
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<remap from="initialpose_in" to="initialpose3d" />
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<remap from="initialpose_out" to="initialpose" />
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</node>
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<!-- mtf selector for navigation nodes -->
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<node name="tf_mux" pkg="topic_tools" type="mux"
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args="tf /eng2/7f_tf /eng2/1f_tf /eng2/2f_tf /eng2/3f_tf /eng2/8f_tf /eng8/6f_tf /eng8/b1f_tf /eng8/1f_tf">
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<remap from="mux" to="map_tf_mux" />
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</node>
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<!-- rviz -->
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<node name="rviz" pkg="rviz" type="rviz"
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args="-d $(find jsk_maps)/launch/config/hongo.rviz"
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if="$(arg launch_rviz)"/>
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</launch>

‎jsk_maps/raw_maps/hongo-1.00.pgm

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‎jsk_maps/raw_maps/hongo-1.00.yaml

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image: hongo-1.00.pgm
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resolution: 1.000
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origin: [0, 0, 0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.192
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map_id: /hongo

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