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Commands for deployment: | ||
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# Start/stop recording | ||
$HOME/workspaces/catkin_ws/src/wild_visual_navigation/wild_visual_navigation_ros/config/recording/start_recording.sh | ||
$HOME/workspaces/catkin_ws/src/wild_visual_navigation/wild_visual_navigation_ros/config/recording/stop_recording.sh | ||
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# Copying the data | ||
$HOME/workspaces/catkin_ws/src/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/bin/copy_mission_data_from_robot.sh jonfrey dodo 2024-02-06-15-20-33 /Data/2024_02_06_Dodo_MPI_WVN | ||
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ssh jonfrey@anymal-dodo-jetson -t 'chown -R jonfrey ~/git/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/data/' | ||
ssh jonfrey@anymal-dodo-jetson -t 'chgrp -R jonfrey ~/git/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/data/' | ||
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$HOME/workspaces/catkin_ws/src/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/bin/remove_mission_data_from_robot.sh jonfrey dodo |
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179 changes: 46 additions & 133 deletions
179
wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_sensor_parameter.yaml
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#### Subscribers ######## | ||
subscribers: | ||
# RGB cameras | ||
# alphasense_front_rgb: | ||
# fusion: ['image_color'] | ||
# topic_name_camera: /alphasense_driver_ros/cam4/debayered | ||
# topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info | ||
# channels: ["rgb_image"] | ||
# data_type: image | ||
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# alphasense_left_rgb: | ||
# fusion: ['image_color'] | ||
# topic_name_camera: /alphasense_driver_ros/cam3/debayered | ||
# topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info | ||
# channels: ["rgb_image"] | ||
# data_type: image | ||
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# alphasense_right_rgb: | ||
# fusion: ['image_color'] | ||
# topic_name_camera: /alphasense_driver_ros/cam5/debayered | ||
# topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info | ||
# channels: ["rgb_image"] | ||
# data_type: image | ||
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# wide_angle_camera_rear: | ||
# fusion: ['image_color'] | ||
# topic_name_camera: /wide_angle_camera_rear/image_color_rect/compressed | ||
# topic_name_camera_info: /wide_angle_camera_rear/camera_info | ||
# channels: ["rgb_image"] | ||
# data_type: image | ||
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# wide_angle_camera_front: | ||
# fusion: ['image_color'] | ||
# topic_name_camera: /wide_angle_camera_front/image_color_rect/compressed | ||
# topic_name_camera_info: /wide_angle_camera_front/camera_info | ||
# channels: ["rgb_image"] | ||
# data_type: image | ||
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# Traversability | ||
wvn_front_traversability: | ||
fusion: ['image_exponential'] | ||
topic_name_camera: '/wild_visual_navigation_node/front/traversability' | ||
topic_name_camera_info: '/wild_visual_navigation_node/front/camera_info' | ||
channels: ["visual_traversability"] | ||
data_type: image | ||
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wvn_left_traversability: | ||
fusion: ['image_exponential'] | ||
topic_name_camera: '/wild_visual_navigation_node/left/traversability' | ||
topic_name_camera_info: '/wild_visual_navigation_node/left/camera_info' | ||
channels: ["visual_traversability"] | ||
data_type: image | ||
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wvn_right_traversability: | ||
fusion: ['image_exponential'] | ||
topic_name_camera: '/wild_visual_navigation_node/right/traversability' | ||
topic_name_camera_info: '/wild_visual_navigation_node/right/camera_info' | ||
channels: ["visual_traversability"] | ||
data_type: image | ||
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# Confidence | ||
# wvn_front_confidence: | ||
# fusion: ['image_exponential'] | ||
# topic_name_camera: '/wild_visual_navigation_node/front/confidence' | ||
# topic_name_camera_info: '/wild_visual_navigation_node/front/camera_info' | ||
# channels: ["visual_confidence"] | ||
# data_type: image | ||
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# wvn_left_confidence: | ||
# fusion: ['image_exponential'] | ||
# topic_name_camera: '/wild_visual_navigation_node/left/confidence' | ||
# topic_name_camera_info: '/wild_visual_navigation_node/left/camera_info' | ||
# channels: ["visual_confidence"] | ||
# data_type: image | ||
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# wvn_right_confidence: | ||
# fusion: ['image_exponential'] | ||
# topic_name_camera: '/wild_visual_navigation_node/right/confidence_raw' | ||
# topic_name_camera_info: '/wild_visual_navigation_node/right/camera_info' | ||
# channels: ["visual_confidence"] | ||
# data_type: image | ||
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# For Anymal C | ||
# front_depth: | ||
# channels: [] | ||
# fusion: [] | ||
# topic_name: /depth_camera_front/point_cloud_self_filtered | ||
# data_type: pointcloud | ||
# | ||
# rear_depth: | ||
# channels: [] | ||
# fusion: [] | ||
# topic_name: /depth_camera_rear/point_cloud_self_filtered | ||
# data_type: pointcloud | ||
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# For Anymal D | ||
front_depth: | ||
channels: [ ] | ||
fusion: [ ] | ||
front_upper_depth: | ||
topic_name: /depth_camera_front_upper/point_cloud_self_filtered | ||
data_type: pointcloud | ||
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rear_depth: | ||
channels: [ ] | ||
fusion: [ ] | ||
front_lower_depth: | ||
topic_name: /depth_camera_front_lower/point_cloud_self_filtered | ||
data_type: pointcloud | ||
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rear_upper_depth: | ||
topic_name: /depth_camera_rear_upper/point_cloud_self_filtered | ||
data_type: pointcloud | ||
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rear_lower_depth: | ||
topic_name: /depth_camera_rear_lower/point_cloud_self_filtered | ||
data_type: pointcloud | ||
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left_depth: | ||
channels: [] | ||
fusion: [] | ||
topic_name: /depth_camera_left/point_cloud_self_filtered | ||
data_type: pointcloud | ||
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right_depth: | ||
channels: [] | ||
fusion: [] | ||
topic_name: /depth_camera_right/point_cloud_self_filtered | ||
data_type: pointcloud | ||
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# velodyne: | ||
# channels: [] | ||
# fusion: [] | ||
# topic_name: /point_cloud_filter/lidar/point_cloud_filtered | ||
# data_type: pointcloud | ||
velodyne: | ||
topic_name: /point_cloud_filter/lidar/point_cloud_filtered | ||
data_type: pointcloud | ||
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# Semantics | ||
front_wide_angle: | ||
topic_name: /wide_angle_camera_front/image_color_rect/compressed | ||
camera_info_topic_name: /wide_angle_camera_front/camera_info | ||
data_type: image | ||
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rear_wide_angle: | ||
topic_name: /wide_angle_camera_rear/image_color_rect/compressed | ||
camera_info_topic_name: /wide_angle_camera_rear/camera_info | ||
data_type: image | ||
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# Cerberus | ||
front_bpearl: | ||
channels: [] | ||
fusion: [] | ||
topic_name: /robot_self_filter/bpearl_front/point_cloud | ||
data_type: pointcloud | ||
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rear_bpearl: | ||
channels: [] | ||
fusion: [] | ||
topic_name: /robot_self_filter/bpearl_rear/point_cloud | ||
data_type: pointcloud | ||
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# Traversability | ||
# channels: ["visual_traversability"] | ||
sem_wvn_front_traversability: | ||
topic_name: '/wild_visual_navigation_node/front/traversability' | ||
camera_info_topic_name: '/wild_visual_navigation_node/front/camera_info' | ||
channels: ['visual_traversability'] | ||
data_type: image | ||
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# Cameras for D | ||
# front_depth_d: | ||
# channels: [] | ||
# fusion: [] | ||
# topic_name: /depth_camera_front_upper/point_cloud_self_filtered | ||
# data_type: pointcloud | ||
sem_wvn_left_traversability: | ||
topic_name: '/wild_visual_navigation_node/left/traversability' | ||
camera_info_topic_name: '/wild_visual_navigation_node/left/camera_info' | ||
channels: ['visual_traversability'] | ||
data_type: image | ||
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sem_wvn_right_traversability: | ||
topic_name: '/wild_visual_navigation_node/right/traversability' | ||
camera_info_topic_name: '/wild_visual_navigation_node/right/camera_info' | ||
channels: ['visual_traversability'] | ||
data_type: image | ||
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# rear_depth_d: | ||
# channels: [] | ||
# fusion: [] | ||
# topic_name: /depth_camera_rear_upper/point_cloud_self_filtered | ||
# data_type: pointcloud | ||
# sem_wvn_front_confidence: | ||
# topic_name: '/wild_visual_navigation_node/front/confidence' | ||
# camera_info_topic_name: '/wild_visual_navigation_node/front/camera_info' | ||
# channels: ['visual_traversability'] | ||
# data_type: image |
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