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AndreasR30AndreasR30
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Add rosbag panel dependency, which is a GUI for Rviz to open/play rosbags
1 parent 51f0550 commit f4f4aac

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‎.github/workflows/dependencies.repos

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@@ -26,4 +26,12 @@ repositories:
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rviz_colorize_point_cloud_by_label:
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type: git
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url: https://github.com/UniBwTAS/rviz_colorize_point_cloud_by_label.git
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version: master
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version: master
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rosbag_panel:
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type: git
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url: https://github.com/UniBwTAS/rosbag_panel.git
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version: master
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ros_comm:
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type: git
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url: https://github.com/UniBwTAS/ros_comm.git
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version: dev-ctrl-by-srv-minimal

‎README.md

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@@ -126,7 +126,8 @@ catkin build
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# run on kitti odometry dataset
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roslaunch continuous_clustering demo_kitti_folder.launch path:=${KITTI_SEQUENCES_PATH}
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# run on VW Touareg rosbag
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# run on VW Touareg rosbag (set the playback speed lower in Rviz (RosbagPanel) if you run in docker due to missing
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# hardware acceleration for graphical output)
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roslaunch continuous_clustering demo_touareg.launch bag_file:=${ROSBAG_PATH}/vw_touareg_example1.bag
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```
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‎launch/demo_touareg.launch

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Original file line numberDiff line numberDiff line change
@@ -7,7 +7,6 @@
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<!-- arguments to play directly a rosbag with this launch file -->
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<arg name="bag_file" default="" doc="path to bag file; if empty no bag file is replayed"/>
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<arg name="bag_rate" default="0.1" doc="replay speed"/>
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<!-- flags for enable/disable individual sensors -->
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<arg name="use_vls128_roof" default="true"/>
@@ -38,8 +37,8 @@
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<!-- play a rosbag if desired -->
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<param name="use_sim_time" value="true" if="$(eval not (bag_file == ''))"/>
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<node pkg="rosbag" type="play" name="rosbag_play_recording"
40+
<node pkg="rosbag" type="play" name="rosbag_play"
4241
required="true"
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args="--rate $(arg bag_rate) --clock $(arg bag_file)"
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args="--server $(arg bag_file)"
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if="$(eval not (bag_file == ''))"/>
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</launch>

‎package.xml

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@@ -20,8 +20,10 @@
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<depend>ouster_ros</depend>
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<depend>ethernet_msgs</depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>rviz_range_image</exec_depend>
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<exec_depend>rviz_continuous_point_cloud</exec_depend>
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<exec_depend>rviz_colorize_point_cloud_by_label</exec_depend>
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<exec_depend>rosbag_panel</exec_depend>
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</package>

‎rviz/demo_touareg.rviz

Lines changed: 10 additions & 252 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ Panels:
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- /LidarLeft1/ContinuousRangeImages1/InstanceSegmentation1/Enable continuous1
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- /LidarRight1
1414
Splitter Ratio: 0.6441441178321838
15-
Tree Height: 373
15+
Tree Height: 268
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- Class: rviz/Selection
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Name: Selection
1818
- Class: rviz/Tool Properties
@@ -31,6 +31,12 @@ Panels:
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Name: Time
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SyncMode: 0
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SyncSource: ContinuousInstances
34+
- Class: rosbag_panel/RosbagPanel
35+
LastOpenedDirectory: ""
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Name: RosbagPanel
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- Class: rosbag_panel/RosbagPanel
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LastOpenedDirectory: ""
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Name: RosbagPanel
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
@@ -70,257 +76,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_link_ground:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/left/world:
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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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sensor/camera/marveye/nir_left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/nir_left/world:
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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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sensor/camera/marveye/nir_right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/nir_right/world:
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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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sensor/camera/marveye/right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/right/world:
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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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sensor/camera/marveye/rotating_head:
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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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sensor/camera/marveye/rotation_point:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/tele:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/tele/mirror:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/marveye/tele/world:
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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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sensor/camera/roof/ir:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/roof/ir/world:
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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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sensor/camera/surround/back:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/surround/back/world:
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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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sensor/camera/surround/front:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/surround/front/world:
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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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sensor/camera/surround/left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/surround/left/world:
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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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sensor/camera/surround/right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/surround/right/world:
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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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sensor/camera/windshield/nir:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/windshield/nir/world:
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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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sensor/camera/windshield/vis:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/camera/windshield/vis/world:
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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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sensor/ins/oxts:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/lidar/hdl64_roof:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/lidar/hdl64_roof/rotating_head:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/lidar/os32_left/os_sensor:
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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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sensor/lidar/os32_right/os_sensor:
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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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sensor/lidar/vls128_roof:
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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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sensor/odometry/base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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sensor/radar/umrr/21:
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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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sensor/radar/umrr/31:
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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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sensor/radar/umrr/32:
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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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sensor/radar/umrr/33:
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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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sensor/radar/umrr/34:
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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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sensor/radar/umrr/35:
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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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vehicle/center_of_gravity:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/chassis:
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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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vehicle/rear_axis:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/front_left:
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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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vehicle/wheel/front_left/air_suspension:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/front_left/steer:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/front_right:
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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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vehicle/wheel/front_right/air_suspension:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/front_right/steer:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/rear_left:
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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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vehicle/wheel/rear_left/air_suspension:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/rear_left/steer:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/rear_right:
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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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vehicle/wheel/rear_right/air_suspension:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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vehicle/wheel/rear_right/steer:
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Alpha: 1
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Show Axes: false
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Show Trail: false
32480
Name: RobotModel
32581
Robot Description: robot_description
32682
TF Prefix: ""
@@ -1328,7 +1084,9 @@ Window Geometry:
13281084
Hide Right Dock: false
13291085
InstanceSegmentation:
13301086
collapsed: false
1331-
QMainWindow State: 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QMainWindow State: 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
1088+
RosbagPanel:
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collapsed: false
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Selection:
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collapsed: false
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Time:

‎scripts/clone_repositories_and_install_dependencies.sh

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@@ -17,6 +17,11 @@ git clone https://github.com/UniBwTAS/rviz_range_image.git
1717
git clone https://github.com/UniBwTAS/rviz_continuous_point_cloud.git
1818
git clone https://github.com/UniBwTAS/rviz_colorize_point_cloud_by_label.git
1919

20+
# another very useful Rviz plugin, which shows a panel to control the playback of rosbag
21+
git clone https://github.com/UniBwTAS/rosbag_panel.git
22+
# rosbag_panel requires a fork of ros_comm as it adds a ROS service to the rosbag player to control it remotely
23+
git clone https://github.com/UniBwTAS/ros_comm.git --branch dev-ctrl-by-srv-minimal
24+
2025
# actual continuous clustering package
2126
if [ "$1" != "--from-source" ]
2227
then

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