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AndreasR30AndreasR30
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Add URDF model of ego vehicle
1 parent ca813ce commit 2e7f10a

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6 files changed

+98
-17
lines changed

6 files changed

+98
-17
lines changed

‎launch/demo_kitti_folder.launch

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@@ -15,4 +15,9 @@
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<node name="rviz" pkg="rviz" type="rviz"
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args="--display-config $(find continuous_clustering)/rviz/demo_kitti_folder.rviz"/>
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<!-- below is just for visualization of a dummy car in Rviz (has not the correct dimensions) -->
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<param name="robot_description" command="$(find xacro)/xacro $(find continuous_clustering)/urdf/dummy_car.urdf"/>
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<node pkg="tf2_ros" type="static_transform_publisher" name="publish_base_link"
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args="0 0 -1.3 0 0 0 velo_link base_link"/>
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</launch>

‎launch/vehicle_kitti.launch

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@@ -7,4 +7,7 @@
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<param name="/vehicles/vw_passat_b6/geometric/length_ref_to_rear_end" value="-3"/>
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<param name="/vehicles/vw_passat_b6/geometric/width_ref_to_left_mirror" value="1.5"/>
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<param name="/vehicles/vw_passat_b6/geometric/width_ref_to_right_mirror" value="-1.5"/>
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<!-- visualize dummy car in Rviz (has not the correct dimensions!) -->
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<param name="robot_description" command="$(find xacro)/xacro $(find continuous_clustering)/urdf/dummy_car.urdf"/>
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</launch>

‎launch/vehicle_touareg.launch

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@@ -8,6 +8,9 @@
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<param name="/vehicles/touareg/geometric/width_ref_to_left_mirror" value="1.1085"/>
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<param name="/vehicles/touareg/geometric/width_ref_to_right_mirror" value="-1.1085"/>
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<!-- visualize dummy car in Rviz (has not the correct dimensions!) -->
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<param name="robot_description" command="$(find xacro)/xacro $(find continuous_clustering)/urdf/dummy_car.urdf"/>
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<!-- uncomment the following if you want to have the regular 360° PointCloud2 for the Ouster sensor -->
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<!-- lidar ouster left -->

‎rviz/demo_kitti_folder.rviz

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Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ Panels:
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- /LidarRoof1/ContinuousPointClouds1/GroundPointSegmentation1/Show only1
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- /LidarRoof1/ContinuousPointClouds1/InstanceSegmentation1/Enable continuous1
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Splitter Ratio: 0.6441441178321838
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Tree Height: 701
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Tree Height: 581
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
@@ -62,6 +62,8 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base_link:
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Value: true
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odom:
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Value: true
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velo_link:
@@ -75,17 +77,31 @@ Visualization Manager:
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Tree:
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odom:
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velo_link:
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{}
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base_link:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Marker
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Marker Topic: /ego_robot_bounding_box
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Name: EgoVehicle
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Namespaces:
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ego_robot: true
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Queue Size: 100
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/Group
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Displays:
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- Alpha: 1
@@ -467,12 +483,12 @@ Window Geometry:
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collapsed: false
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GroundPointSegmentation:
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collapsed: false
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Height: 1136
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: false
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InstanceSegmentation:
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collapsed: false
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QMainWindow State: 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QMainWindow State: 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Selection:
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collapsed: false
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Time:

‎src/tools/kitti_demo.cpp

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@@ -313,13 +313,6 @@ class KittiDemo
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// generate (flattened) range image from point cloud (height corresponds to number of lasers)
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std::vector<KittiPoint> range_image = kitti_loader.generateRangeImage(points);
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316-
#ifdef WITH_ROS
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// publish ego robot as marker
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if (!disable_ros_publishers)
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publish_ego_robot_bounding_box(
320-
timestamps_velodyne_start[frame_index], pub_ego_robot_bbox, config.ground_segmentation);
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#endif
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// publish individual firings (here column and firing is the same as we pretend that the lasers
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// of one firing have the same azimuth angle, this is not the case for real velodyne sensors)
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for (int column_index = 0; column_index < KittiLoader::RANGE_IMAGE_WIDTH; column_index++)

‎urdf/dummy_car.urdf

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@@ -0,0 +1,61 @@
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<?xml version="1.0"?>
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<robot name="touareg">
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<!-- add colors -->
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<material name="gray">
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<color rgba="0.8 0.8 0.8 0.5"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<link name="base_link">
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<!-- chassis -->
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<visual>
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<geometry>
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<box size="4.754 2.217 1.5"/>
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</geometry>
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<origin xyz="-0.0235 0 0.338" rpy="0 0 0"/>
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<material name="gray"/>
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</visual>
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<!-- front left wheel -->
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<visual>
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<geometry>
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<cylinder length="0.2" radius="0.37"/>
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</geometry>
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<origin xyz="1.4275 1.1085 -0.2715" rpy="${pi / 2} 0 0"/>
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<material name="black"/>
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</visual>
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<!-- front right wheel -->
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<visual>
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<geometry>
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<cylinder length="0.2" radius="0.37"/>
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</geometry>
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<origin xyz="1.4275 -1.1085 -0.2715" rpy="${pi / 2} 0 0"/>
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<material name="black"/>
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</visual>
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<!-- rear left wheel -->
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<visual>
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<geometry>
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<cylinder length="0.2" radius="0.37"/>
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</geometry>
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<origin xyz="-1.4275 1.1085 -0.2715" rpy="${pi / 2} 0 0"/>
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<material name="black"/>
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</visual>
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<!-- rear right wheel -->
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<visual>
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<geometry>
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<cylinder length="0.2" radius="0.37"/>
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</geometry>
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<origin xyz="-1.4275 -1.1085 -0.2715" rpy="${pi / 2} 0 0"/>
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<material name="black"/>
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</visual>
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</link>
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</robot>

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