Update lidarbot_nav.rviz

.gitignore

@@ -1,2 +1,3 @@
 .vscode/
-.vale.ini
+.vale.ini
+styles/

lidarbot_navigation/config/nav2_params.yaml

@@ -44,7 +44,8 @@ bt_navigator:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
-    odom_topic: /odom
+    # odom_topic: /odometry/filtered
+    odom_topic: /odom    
     bt_loop_duration: 10
     default_server_timeout: 20
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
@@ -191,7 +192,7 @@ local_costmap:
       width: 3
       height: 3
       resolution: 0.05
-      robot_radius: 0.22
+      robot_radius: 0.15 # 0.22
       plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
@@ -230,7 +231,7 @@ global_costmap:
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.22
+      robot_radius: 0.15 # 0.22
       resolution: 0.05
       track_unknown_space: true
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
@@ -346,4 +347,4 @@ velocity_smoother:
     odom_topic: "odom"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
-    velocity_timeout: 1.0
+    velocity_timeout: 1.0

lidarbot_navigation/maps/real_map3.yaml

@@ -0,0 +1,7 @@
+image: real_map3.pgm
+mode: trinary
+resolution: 0.05
+origin: [-3.4, -6.49, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

lidarbot_navigation/rviz/lidarbot_nav.rviz

@@ -4,6 +4,7 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /Map1/Topic1
         - /Odometry2/Shape1
         - /Map2/Topic1
       Splitter Ratio: 0.5
@@ -182,7 +183,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 0
+      Max Intensity: 47
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: LaserScan
@@ -231,7 +232,7 @@ Visualization Manager:
       Name: Map
       Topic:
         Depth: 5
-        Durability Policy: Volatile
+        Durability Policy: Transient Local
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
@@ -389,7 +390,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -1.5649993419647217
+      Angle: -1.579999327659607
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -402,8 +403,8 @@ Visualization Manager:
       Scale: 84.51799011230469
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -1.8875250816345215
-      Y: -2.8322813510894775
+      X: -0.7626913189888
+      Y: -2.2333052158355713
     Saved: ~
 Window Geometry:
   Camera:
@@ -415,7 +416,7 @@ Window Geometry:
   Hide Right Dock: false
   Navigation 2:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e002000320100000232000001c40000012600ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e002000320100000232000001c40000013900ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   SlamToolboxPlugin: