Merge pull request #124 from NVIDIA-ISAAC-ROS/release-2.0.0

Isaac ROS 2.0.0
NVIDIA-ISAAC-ROS · Oct 19, 2023 · 406bf6f · 406bf6f
2 parents 9c6d220 + 7e378f8
commit 406bf6f
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Showing 2 changed files with 602 additions and 75 deletions.
diff --git a/isaac_ros_visual_slam/rviz/default.cfg.rviz b/isaac_ros_visual_slam/rviz/default.cfg.rviz
@@ -10,8 +10,10 @@ Panels:
         - /Loop closure1/Topic1
         - /Localizer1/Localizer Map1
         - /Odometry1/Shape1
-      Splitter Ratio: 0.7441176176071167
-    Tree Height: 324
+        - /Left Image1
+        - /Right Image1
+      Splitter Ratio: 0.5261569619178772
+    Tree Height: 256
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -52,85 +54,21 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        back_2d_lidar:
-          Value: false
         base_link:
           Value: true
-        chassis_link:
-          Value: true
-        front_2d_lidar:
-          Value: false
-        front_3d_lidar:
-          Value: false
-        front_stereo_camera:imu:
-          Value: false
-        front_stereo_camera:left_rgb:
-          Value: true
-        front_stereo_camera:right_rgb:
-          Value: true
-        left_stereo_camera:imu:
-          Value: false
-        left_stereo_camera:left_rgb:
-          Value: false
-        left_stereo_camera:right_rgb:
-          Value: false
         map:
           Value: true
         odom:
           Value: true
-        rear_stereo_camera:imu:
-          Value: false
-        rear_stereo_camera:left_rgb:
-          Value: false
-        rear_stereo_camera:right_rgb:
-          Value: false
-        right_stereo_camera:imu:
-          Value: false
-        right_stereo_camera:left_rgb:
-          Value: false
-        right_stereo_camera:right_rgb:
-          Value: false
       Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
         map:
-          {}
-        odom:
-          base_link:
-            back_2d_lidar:
-              {}
-            chassis_link:
-              {}
-            front_2d_lidar:
-              {}
-            front_3d_lidar:
-              {}
-            front_stereo_camera:imu:
-              {}
-            front_stereo_camera:left_rgb:
-              {}
-            front_stereo_camera:right_rgb:
-              {}
-            left_stereo_camera:imu:
-              {}
-            left_stereo_camera:left_rgb:
-              {}
-            left_stereo_camera:right_rgb:
-              {}
-            rear_stereo_camera:imu:
-              {}
-            rear_stereo_camera:left_rgb:
-              {}
-            rear_stereo_camera:right_rgb:
-              {}
-            right_stereo_camera:imu:
-              {}
-            right_stereo_camera:left_rgb:
-              {}
-            right_stereo_camera:right_rgb:
+          odom:
+            base_link:
               {}
       Update Interval: 0
       Value: true
@@ -332,7 +270,7 @@ Visualization Manager:
           Enabled: true
           Name: PG Edges2
           Namespaces:
-            {}
+            edges: true
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -345,7 +283,7 @@ Visualization Manager:
           Enabled: true
           Name: PG Edges
           Namespaces:
-            {}
+            edges: true
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -470,7 +408,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /front_stereo_camera/left_rgb/image_raw
+        Value: /stereo_camera/left/image
       Value: true
     - Class: rviz_default_plugins/Image
       Enabled: true
@@ -484,8 +422,22 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /front_stereo_camera/right_rgb/image_raw
+        Value: /stereo_camera/right/image
       Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: false
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /stereo_camera/left/image
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -555,12 +507,14 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1066
+  Height: 946
   Hide Left Dock: false
   Hide Right Dock: true
+  Image:
+    collapsed: false
   Left Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000021d000003d4fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000022b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650200000403000002880000037d00000228fb0000000a0049006d00610067006502000001fc000002110000058400000296fb0000000a0049006d00610067006503000006fe000005e200000433000001fffb00000014004c00650066007400200049006d006100670065010000026c000000d00000002800fffffffb000000160052006900670068007400200049006d0061006700650100000342000000cd0000002800ffffff00000001000001b40000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000055d000003d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000003e40000035cfc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001e7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650200000403000002880000037d00000228fb0000000a0049006d00610067006502000001fc000002110000058400000296fb0000000a0049006d00610067006503000006fe000005e200000433000001fffb00000014004c00650066007400200049006d0061006700650100000228000000b60000002800fffffffb000000160052006900670068007400200049006d00610067006501000002e4000000b30000002800fffffffb0000000a0049006d00610067006500000002d0000000c70000002800ffffff00000001000001b40000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003960000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Right Image:
     collapsed: false
   Selection:
@@ -571,4 +525,4 @@ Window Geometry:
     collapsed: true
   Width: 1920
   X: 0
-  Y: 267
+  Y: 27