-
Notifications
You must be signed in to change notification settings - Fork 2
/
Copy pathrosgraph.dot
219 lines (219 loc) · 6.19 KB
/
rosgraph.dot
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
digraph graphname {
graph [bb="0,0,716,450.96",
compound=True,
rank=same,
rankdir=LR,
ranksep=0.2
];
node [label="\N"];
subgraph cluster_MultipolicyMPC {
graph [bb="408,116.96,572,191.96",
compound=True,
label=MultipolicyMPC,
lheight=0.21,
lp="490,180.46",
lwidth=1.31,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
n__MultipolicyMPC [URL=_MultipolicyMPC,
height=0.5,
label="/MultipolicyMPC",
pos="490,142.96",
shape=ellipse,
tooltip="/MultipolicyMPC",
width=2.0582];
}
subgraph cluster_map_server {
graph [bb="13,367.96,139,442.96",
compound=True,
label=map_server,
lheight=0.21,
lp="76,431.46",
lwidth=0.89,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
n__map_server [URL=_map_server,
height=0.5,
label="/map_server",
pos="76,393.96",
shape=ellipse,
tooltip="/map_server",
width=1.5165];
}
subgraph cluster_tf {
graph [bb="41,284.96,111,359.96",
compound=True,
label=tf,
lheight=0.21,
lp="76,348.46",
lwidth=0.12,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
n__tf [URL=_tf,
height=0.5,
label="/tf",
pos="76,310.96",
shape=ellipse,
tooltip="/tf",
width=0.75];
}
subgraph cluster_DriverModel {
graph [bb="8,89.961,144,164.96",
compound=True,
label=DriverModel,
lheight=0.21,
lp="76,153.46",
lwidth=1.00,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
n__DriverModel [URL=_DriverModel,
height=0.5,
label="/DriverModel",
pos="76,115.96",
shape=ellipse,
tooltip="/DriverModel",
width=1.661];
}
subgraph cluster_DESPOT {
graph [bb="222,78.961,330,153.96",
compound=True,
label=DESPOT,
lheight=0.21,
lp="276,142.46",
lwidth=0.72,
rank=same,
rankdir=LR,
ranksep=0.2,
style=bold
];
n__DESPOT [URL=_DESPOT,
height=0.5,
label="/DESPOT",
pos="276,104.96",
shape=ellipse,
tooltip="/DESPOT",
width=1.2818];
}
t__traj_A1 [URL=topic_3A_traj_A1,
height=0.5,
label="/traj_A1",
pos="369,88.961",
shape=box,
tooltip="topic:/traj_A1",
width=0.86111];
t__traj_A1 -> n__MultipolicyMPC [penwidth=1,
pos="e,453.91,127.04 400.03,102.59 413.47,108.69 429.6,116.01 444.41,122.73"];
t__traj_A0 [URL=topic_3A_traj_A0,
height=0.5,
label="/traj_A0",
pos="369,34.961",
shape=box,
tooltip="topic:/traj_A0",
width=0.86111];
t__traj_A0 -> n__MultipolicyMPC [penwidth=1,
pos="e,469.93,125.55 390.35,53.245 393.58,56.158 396.88,59.14 400,61.961 420.96,80.927 444.62,102.47 462.27,118.56"];
t__belief [URL=topic_3A_belief,
height=0.5,
label="/belief",
pos="369,142.96",
shape=box,
tooltip="topic:/belief",
width=0.75];
t__belief -> n__MultipolicyMPC [penwidth=1,
pos="e,415.79,142.96 396.12,142.96 399.13,142.96 402.3,142.96 405.6,142.96"];
t__traj_R [URL=topic_3A_traj_R,
height=0.5,
label="/traj_R",
pos="183,164.96",
shape=box,
tooltip="topic:/traj_R",
width=0.75];
t__traj_R -> n__DESPOT [penwidth=1,
pos="e,251.53,120.44 210.32,147.61 220.49,140.9 232.23,133.16 242.89,126.14"];
t__tf [URL=topic_3A_tf,
height=0.5,
label="/tf",
pos="183,310.96",
shape=box,
tooltip="topic:/tf",
width=0.75];
t__visualization_marker [URL=topic_3A_visualization_marker,
height=0.5,
label="/visualization_marker",
pos="648,142.96",
shape=box,
tooltip="topic:/visualization_marker",
width=1.875];
t__pose_R [URL=topic_3A_pose_R,
height=0.5,
label="/pose_R",
pos="183,218.96",
shape=box,
tooltip="topic:/pose_R",
width=0.84722];
t__pose_R -> n__DriverModel [penwidth=1,
pos="e,93.693,133.46 161.52,200.82 158.3,197.89 155.04,194.86 152,191.96 134.53,175.28 115.42,155.89 100.86,140.87"];
t__pose_R -> n__DESPOT [penwidth=1,
pos="e,264.38,122.49 205.24,200.95 208.29,198.05 211.31,195 214,191.96 230.87,172.91 247.27,149.13 258.81,131.24"];
t__action [URL=topic_3A_action,
height=0.5,
label="/action",
pos="183,56.961",
shape=box,
tooltip="topic:/action",
width=0.75];
t__action -> n__DESPOT [penwidth=1,
pos="e,247.79,90.608 210.32,70.844 219.23,75.544 229.34,80.878 238.88,85.908"];
t__map [URL=topic_3A_map,
height=0.5,
label="/map",
pos="183,393.96",
shape=box,
tooltip="topic:/map",
width=0.75];
t__state_A [URL=topic_3A_state_A,
height=0.5,
label="/state_A",
pos="183,110.96",
shape=box,
tooltip="topic:/state_A",
width=0.86111];
t__state_A -> n__DESPOT [penwidth=1,
pos="e,230.17,107.92 214.05,108.98 215.99,108.85 217.97,108.72 219.98,108.59"];
n__MultipolicyMPC -> t__traj_R [penwidth=1,
pos="e,210.11,168.41 448.37,158.04 433.39,162.86 416.13,167.57 400,169.96 337.27,179.27 263.19,174.1 220.11,169.52"];
n__MultipolicyMPC -> t__visualization_marker [penwidth=1,
pos="e,580.07,142.96 564.43,142.96 566.22,142.96 568.02,142.96 569.82,142.96"];
n__MultipolicyMPC -> t__pose_R [penwidth=1,
pos="e,213.65,217.49 461.09,159.58 444,169.03 421.39,180.27 400,186.96 340.21,205.66 267.61,213.55 223.64,216.8"];
n__map_server -> t__map [penwidth=1,
pos="e,155.95,393.96 130.73,393.96 135.81,393.96 140.87,393.96 145.72,393.96"];
n__tf -> t__tf [penwidth=1,
pos="e,155.75,310.96 103.23,310.96 116,310.96 131.58,310.96 145.5,310.96"];
n__DriverModel -> t__visualization_marker [penwidth=1,
pos="e,624.07,160.96 81.929,134.13 90.771,162.96 112.23,218.73 152,245.96 197.64,277.21 219.68,264.96 275,264.96 275,264.96 275,264.96 370,264.96 466.17,264.96 566.4,202.61 615.74,167.06"];
n__DriverModel -> t__action [penwidth=1,
pos="e,155.95,71.6 105.14,100.15 117.97,92.939 133.3,84.326 146.88,76.696"];
n__DriverModel -> t__state_A [penwidth=1,
pos="e,151.78,112.4 135.33,113.18 137.46,113.08 139.57,112.98 141.65,112.88"];
n__DESPOT -> t__traj_A1 [penwidth=1,
pos="e,337.79,94.272 318.24,97.71 321.43,97.149 324.65,96.583 327.83,96.024"];
n__DESPOT -> t__traj_A0 [penwidth=1,
pos="e,344.45,53.079 298.11,88.725 309.48,79.979 323.73,69.013 336.4,59.269"];
n__DESPOT -> t__belief [penwidth=1,
pos="e,341.92,132.07 308.06,117.93 315.98,121.24 324.55,124.82 332.67,128.21"];
n__DESPOT -> t__visualization_marker [penwidth=1,
pos="e,623.49,124.76 282.3,87.029 290.21,63.942 307.53,24.795 338,7.9608 362.12,-5.3638 373.3,1.1408 400,7.9608 484.07,29.436 570.34,86.064 615.32,118.75"];
}