Skip to content
This repository was archived by the owner on Jul 11, 2020. It is now read-only.

Commit f1142e3

Browse files
johnmillnerjohnmillner
committed
44
1 parent 226bca7 commit f1142e3

4 files changed

Lines changed: 44 additions & 43 deletions

File tree

‎catkin_ws/src/eel4660/launch/2sigSent.launch‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,10 @@
1212
</node>
1313

1414
<!-- JTM - extended khalman filter -->
15-
<node name="ekf" pkg="robot_pose_ekf" type="robot_pose_ekf" />
15+
<node name="ekf" pkg="robot_pose_ekf" type="robot_pose_ekf" >
16+
<remap name="odom_bomined" value="odom" />
17+
<remap name="base_footprint" value="base_link" />
18+
</node>
1619

1720
<!-- JTM - transform -->
1821
<node name="tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /base_link /laser 10" />

‎catkin_ws/src/eel4660/launch/3sigSent.launch‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,7 @@
55
<param name="base_frame" value="base_link" />
66
<param name="odom_frame" value="odom" />
77
<param name="map_frame" value="map" />
8-
<param name="scan" value="scan" />
9-
<remap from="odom_combined" to="odom" />
10-
8+
<param name="scan" value="scan" />
119
</node>
1210

1311
<!-- AMCL -->

‎frames.gv‎

Lines changed: 39 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -1,47 +1,47 @@
11
digraph G {
2-
"map" -> "odom"[label="Broadcaster: /gmapping\nAverage rate: 31.047 Hz\nMost recent transform: 1513002979.078 ( -0.024 sec old)\nBuffer length: 5.025 sec\n"];
3-
"odom" -> "base_footprint"[label="Broadcaster: /mobile_base_nodelet_manager\nAverage rate: 75.052 Hz\nMost recent transform: 1513002979.020 ( 0.035 sec old)\nBuffer length: 4.544 sec\n"];
4-
"base_link" -> "laser"[label="Broadcaster: /tf\nAverage rate: 98.690 Hz\nMost recent transform: 1513002979.027 ( 0.027 sec old)\nBuffer length: 4.539 sec\n"];
5-
"base_footprint" -> "base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
6-
"camera_rgb_frame" -> "camera_depth_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
7-
"base_link" -> "camera_rgb_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
8-
"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
9-
"camera_rgb_frame" -> "camera_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
10-
"camera_rgb_frame" -> "camera_rgb_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
11-
"base_link" -> "caster_back_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
12-
"base_link" -> "caster_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
13-
"base_link" -> "cliff_sensor_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
14-
"base_link" -> "cliff_sensor_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
15-
"base_link" -> "cliff_sensor_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
16-
"base_link" -> "gyro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
17-
"base_link" -> "mount_asus_xtion_pro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
18-
"base_link" -> "plate_bottom_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
19-
"base_link" -> "plate_middle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
20-
"base_link" -> "plate_top_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
21-
"base_link" -> "pole_bottom_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
22-
"base_link" -> "pole_bottom_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
23-
"base_link" -> "pole_bottom_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
24-
"base_link" -> "pole_bottom_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
25-
"base_link" -> "pole_bottom_4_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
26-
"base_link" -> "pole_bottom_5_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
27-
"base_link" -> "pole_kinect_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
28-
"base_link" -> "pole_kinect_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
29-
"base_link" -> "pole_middle_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
30-
"base_link" -> "pole_middle_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
31-
"base_link" -> "pole_middle_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
32-
"base_link" -> "pole_middle_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
33-
"base_link" -> "pole_top_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
34-
"base_link" -> "pole_top_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
35-
"base_link" -> "pole_top_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
36-
"base_link" -> "pole_top_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513002979.054 sec old)\nBuffer length: 0.000 sec\n"];
37-
"base_link" -> "wheel_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 5.044 Hz\nMost recent transform: 1513002978.861 ( 0.193 sec old)\nBuffer length: 4.362 sec\n"];
38-
"base_link" -> "wheel_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 5.044 Hz\nMost recent transform: 1513002978.861 ( 0.193 sec old)\nBuffer length: 4.362 sec\n"];
2+
"map" -> "odom"[label="Broadcaster: /gmapping\nAverage rate: 31.704 Hz\nMost recent transform: 1513003453.998 ( 0.000 sec old)\nBuffer length: 4.920 sec\n"];
3+
"base_footprint" -> "base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
4+
"odom" -> "base_footprint"[label="Broadcaster: /mobile_base_nodelet_manager\nAverage rate: 74.949 Hz\nMost recent transform: 1513003453.952 ( 0.045 sec old)\nBuffer length: 4.923 sec\n"];
5+
"camera_rgb_frame" -> "camera_depth_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
6+
"base_link" -> "camera_rgb_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
7+
"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
8+
"camera_rgb_frame" -> "camera_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
9+
"camera_rgb_frame" -> "camera_rgb_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
10+
"base_link" -> "caster_back_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
11+
"base_link" -> "caster_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
12+
"base_link" -> "cliff_sensor_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
13+
"base_link" -> "cliff_sensor_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
14+
"base_link" -> "cliff_sensor_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
15+
"base_link" -> "gyro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
16+
"base_link" -> "mount_asus_xtion_pro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
17+
"base_link" -> "plate_bottom_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
18+
"base_link" -> "plate_middle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
19+
"base_link" -> "plate_top_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
20+
"base_link" -> "pole_bottom_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
21+
"base_link" -> "pole_bottom_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
22+
"base_link" -> "pole_bottom_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
23+
"base_link" -> "pole_bottom_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
24+
"base_link" -> "pole_bottom_4_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
25+
"base_link" -> "pole_bottom_5_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
26+
"base_link" -> "pole_kinect_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
27+
"base_link" -> "pole_kinect_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
28+
"base_link" -> "pole_middle_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
29+
"base_link" -> "pole_middle_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
30+
"base_link" -> "pole_middle_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
31+
"base_link" -> "pole_middle_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
32+
"base_link" -> "pole_top_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
33+
"base_link" -> "pole_top_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
34+
"base_link" -> "pole_top_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
35+
"base_link" -> "pole_top_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1513003453.998 sec old)\nBuffer length: 0.000 sec\n"];
36+
"base_link" -> "laser"[label="Broadcaster: /tf\nAverage rate: 98.594 Hz\nMost recent transform: 1513003453.965 ( 0.033 sec old)\nBuffer length: 4.919 sec\n"];
37+
"base_link" -> "wheel_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 5.040 Hz\nMost recent transform: 1513003453.753 ( 0.245 sec old)\nBuffer length: 4.564 sec\n"];
38+
"base_link" -> "wheel_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 5.040 Hz\nMost recent transform: 1513003453.753 ( 0.245 sec old)\nBuffer length: 4.564 sec\n"];
3939
edge [style=invis];
4040
subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
41-
"Recorded at time: 1513002979.054"[ shape=plaintext ] ;
41+
"Recorded at time: 1513003453.998"[ shape=plaintext ] ;
4242
}->"map";
4343
edge [style=invis];
4444
subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
45-
"Recorded at time: 1513002979.054"[ shape=plaintext ] ;
45+
"Recorded at time: 1513003453.998"[ shape=plaintext ] ;
4646
}->"odom_combined";
4747
}

‎frames.pdf‎

-132 Bytes
Binary file not shown.

0 commit comments

Comments
 (0)