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wouter-heerweghwouter-heerwegh
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Merge pull request #279 from mateusz-lichota/master
Port the ros bridge to galactic
2 parents b0dafb6 + e4e2d68 commit 8662f43

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‎.gitmodules‎

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[submodule "ros/src/fs_msgs"]
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path = ros/src/fs_msgs
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url = https://github.com/FS-Driverless/fs_msgs.git
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[submodule "ros2/src/fs_msgs"]
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path = ros2/src/fs_msgs
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url = https://github.com/FS-Driverless/fs_msgs.git
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branch = ros2

‎ros2/.gitignore‎

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build/
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install/
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log/

‎ros2/src/fs_msgs‎

Submodule fs_msgs added at 8f9bfac

‎ros2/src/fsds_ros2_bridge/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10.0)
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project(fsds_ros2_bridge)
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# set this to path to AirSim root folder if you want your catkin workspace in a custom directory
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set(AIRSIM_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../AirSim/)
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add_subdirectory("${AIRSIM_ROOT}/cmake/rpclib_wrapper" rpclib_wrapper)
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add_subdirectory("${AIRSIM_ROOT}/cmake/AirLib" AirLib)
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set(CMAKE_CXX_STANDARD 11)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
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set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs
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-l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
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-lm -lc -lgcc_s -lgcc
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-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
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set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.2.1/include")
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set(RPC_LIB rpc) # name of .a file with lib prefix
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message(STATUS "found RPC_LIB_INCLUDES=${RPC_LIB_INCLUDES}")
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# find dependencies
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package( OpenCV REQUIRED )
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include_directories( ${OpenCV_INCLUDE_DIRS} )
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include_directories(
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include
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${AIRSIM_ROOT}/AirLib/deps/eigen3
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${AIRSIM_ROOT}/AirLib/include
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${RPC_LIB_INCLUDES}
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)
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find_package( PkgConfig REQUIRED)
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pkg_check_modules( libcurl REQUIRED libcurl )
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ament_auto_add_library(airsim_ros src/airsim_ros_wrapper.cpp)
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target_link_libraries(airsim_ros yaml-cpp AirLib)
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ament_auto_add_executable(fsds_ros2_bridge src/fsds_ros2_bridge.cpp)
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target_link_libraries(fsds_ros2_bridge airsim_ros AirLib ${libcurl_LIBRARIES})
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ament_auto_add_executable(fsds_ros2_bridge_camera src/fsds_ros2_bridge_camera.cpp)
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target_link_libraries(fsds_ros2_bridge_camera AirLib ${OpenCV_LIBS})
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# install(TARGETS
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# #list of shared libraries
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# airsim_ros
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# # pd_position_controller_simple
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# ARCHIVE DESTINATION lib/${PROJECT_NAME}/
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# LIBRARY DESTINATION lib/${PROJECT_NAME}/
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# )
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# install(FILES
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# #list of necessary files (xml...)
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# README.md
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# # settings.json
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# # nodelet_plugins.xml
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# DESTINATION share/${PROJECT_NAME}/
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# )
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ament_auto_package(INSTALL_TO_SHARE launch)
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‎ros2/src/fsds_ros2_bridge/README.md‎

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# Formula Student Driverless Simulator ROS Bridge
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Warning: this readme was written for ROS1, and was not yet updated for ROS2. Major parts of it should stay the same, but some details might be outdated.
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Connects your ROS autonomous system to the FSDS!
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A ROS wrapper over the AirSim C++ **Car** client library. This code is based on the [original AirSim ROS wrapper for the *Multirotor* API](https://github.com/microsoft/AirSim/tree/master/ros/src/airsim_ros_interface) and provides an interface between AirSim + Unreal Engine and your ros-based autonomous system.
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For more documentation, please consult this [page](../../../docs/ros-bridge.md).

‎ros2/src/fsds_ros2_bridge/config/multiplot/multiplot.xml‎

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‎ros2/src/fsds_ros2_bridge/config/rviz/default.rviz‎

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Panels:
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- Class: rviz/Displays
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Help Height: 138
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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Splitter Ratio: 0.5051546096801758
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Tree Height: 1106
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: Image
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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FSCar:
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Value: true
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FSCar/odom_local_ned:
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Value: true
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LidarCustom:
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Value: true
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front_center_custom_body:
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Value: false
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front_center_custom_body/static:
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Value: false
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front_center_custom_optical:
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Value: true
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front_center_custom_optical/static:
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Value: true
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front_left_custom_body:
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Value: false
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front_left_custom_body/static:
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Value: false
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front_left_custom_optical:
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Value: true
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front_left_custom_optical/static:
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Value: true
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front_right_custom_body:
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Value: false
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front_right_custom_body/static:
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Value: false
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front_right_custom_optical:
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Value: true
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front_right_custom_optical/static:
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Value: true
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world_enu:
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Value: false
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world_ned:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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world_ned:
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FSCar:
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FSCar/odom_local_ned:
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LidarCustom:
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{}
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front_center_custom_body/static:
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{}
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front_center_custom_optical/static:
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{}
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front_left_custom_body/static:
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{}
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front_left_custom_optical/static:
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{}
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front_right_custom_body/static:
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{}
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front_right_custom_optical/static:
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{}
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front_center_custom_body:
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{}
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front_center_custom_optical:
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{}
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front_left_custom_body:
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{}
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front_left_custom_optical:
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{}
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front_right_custom_body:
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{}
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front_right_custom_optical:
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{}
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world_enu:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /fsds_ros_bridge/FSCar/front_center_custom/Scene
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /fsds_ros_bridge/FSCar/lidar/LidarCustom
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 255; 255; 255
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Default Light: true
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Fixed Frame: world_enu
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 402.9212646484375
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.09086257964372635
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Y: -0.005134051665663719
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Z: -0.783257007598877
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.3047972321510315
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Target Frame: world_view
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Value: Orbit (rviz)
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Yaw: 0.8321985602378845
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 2104
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Hide Left Dock: false
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 3840
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X: 0
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Y: 0

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