改为remote到个人仓库中

src/boundary_handler/launch/boundary_handler.launch

@@ -36,7 +36,7 @@ def generate_launch_description():
             package='rviz2',
             executable='rviz2',
             name='boundary_rviz',
-            arguments=['-d', get_package_share_directory('boundary_handler') + '/rviz/default.rviz'],
+            arguments=['-d', get_package_share_directory('boundary_handler') + '/rviz/far_planner.rviz'],
             respawn=False,
         ),
     ])

src/far_planner/config/default.yaml

@@ -14,7 +14,7 @@ far_planner:
     is_opencv_visual: false # Obstacle Image Display
     is_static_env: true
     is_pub_boundary: false
-    is_debug_output: false
+    is_debug_output: true
     is_attempt_autoswitch: true  # Auto switch to attemptable navigation
     world_frame: map
 
@@ -48,7 +48,7 @@ far_planner:
     c_detector/resize_ratio: 3.0
     c_detector/filter_count_value: 3
     c_detector/is_save_img: false
-    c_detector/img_folder_path: /path
+    c_detector/img_folder_path: /local_path
 
     # Graph Planner Params
     g_planner/converge_distance: 0.5  # Unit: meter

src/far_planner/config/matterport.yaml

@@ -48,7 +48,7 @@ far_planner:
     c_detector/resize_ratio: 3.0
     c_detector/filter_count_value: 3
     c_detector/is_save_img: false
-    c_detector/img_folder_path: /path
+    c_detector/img_folder_path: /local_path
 
     # Graph Planner Params
     g_planner/converge_distance: 0.25  # Unit: meter

src/far_planner/include/far_planner/dynamic_graph.h

@@ -608,6 +608,7 @@ class DynamicGraph {
 
     /* Add new navigation node to global graph */
     static inline void AddNodeToGraph(const NavNodePtr& node_ptr) {
+        std::cout<<"AddNodeToGraph"<<std::endl;
         if (node_ptr != NULL) {
             globalGraphNodes_.push_back(node_ptr);
         } else if (FARUtil::IsDebug) {

src/far_planner/include/far_planner/far_planner.h

@@ -162,6 +162,7 @@ class FARMaster
     } 
 
     inline void UpdateCommandCallBack(const std_msgs::msg::Bool::SharedPtr msg) {
+        RCLCPP_INFO(nh_->get_logger(),"UpdateCommandCallBack");
         if (is_stop_update_ && msg->data) {
             if (FARUtil::IsDebug) RCLCPP_WARN(nh_->get_logger(), "FARMaster: Resume visibility graph update.");
             is_stop_update_ = !msg->data;

src/far_planner/include/far_planner/graph_planner.h

@@ -159,6 +159,7 @@ inline void UpdaetVGraph(const NodePtrStack& vgraph) {current_graph_ = vgraph;};
 */
 void UpdateGraphTraverability(const NavNodePtr& odom_node_ptr, const NavNodePtr& goal_ptr);
 
+
 /**
  * Generate path to goal based on traversibility result
  * @param goal_ptr current goal node

src/far_planner/launch/far_planner.launch → src/far_planner/launch/far_planner.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
                 '.yaml"'])
             ],
             remappings=[
-                ('/odom_world', '/state_estimation'),
+                ('/odom_world', '/odom'),
                 ('/terrain_cloud', '/terrain_map_ext'),
                 ('/scan_cloud', '/terrain_map'),
                 ('/terrain_local_cloud', '/registered_scan')
@@ -42,9 +42,7 @@ def generate_launch_description():
                 PythonExpression([
                 '"', 
                 get_package_share_directory('far_planner'), 
-                '/rviz/', 
-                LaunchConfiguration('config'), 
-                '.rviz"'])
+                '/rviz/far_planner.rviz"'])  # 直接指定文件名
             ],
             respawn=False,
         ),

src/far_planner/rviz/far_planner.rviz

@@ -0,0 +1,316 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointStamped1
+      Splitter Ratio: 0.5
+    Tree Height: 1239
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+      - /Waypoint1
+      - /Goalpoint1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: freePath
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /free_paths
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1.2180126905441284
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: overallMap
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /overall_map
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: GlobalPath
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /viz_path_topic
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_path
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: VGraph
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /graph_decoder_viz
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/PointStamped
+      Color: 204; 41; 204
+      Enabled: true
+      History Length: 1
+      Name: PointStamped
+      Radius: 0.20000000298023224
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_point
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+    - Class: waypoint_rviz_plugin/WaypointTool
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: waypoint
+    - Class: goalpoint_rviz_plugin/GoalpointTool
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: goalpoint
+    - Class: rviz_visual_tools/KeyTool
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 6.114332675933838
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.1638071984052658
+        Y: 0.564764142036438
+        Z: 1.0331170558929443
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.9622554779052734
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1536
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000020c00000562fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000562000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000562fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000562000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009ba0000003efc0100000002fb0000000800540069006d00650100000000000009ba000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006930000056200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2490
+  X: 1990
+  Y: 27