diff --git a/toid_navigation/launch/mock_control_launch.py b/toid_navigation/launch/mock_control_launch.py index d001734..5d4ccfd 100644 --- a/toid_navigation/launch/mock_control_launch.py +++ b/toid_navigation/launch/mock_control_launch.py @@ -20,15 +20,8 @@ def generate_launch_description(): 'toid_bot_description.urdf' ) - starting_position = LaunchConfiguration("start_position") visualize = LaunchConfiguration("visualize") - starting_position_arg = DeclareLaunchArgument( - 'start_position', - default_value='0 0 0 0 0 0', - description="Set initial robot position" - ) - visualize_arg = DeclareLaunchArgument( 'visualize', default_value='True', @@ -39,7 +32,8 @@ def generate_launch_description(): package='tf2_ros', executable='static_transform_publisher', name='map_to_odom_broadcaster', - arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'] + arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'], + condition=IfCondition(LaunchConfiguration('visualize')) ) robot_state_publisher = Node( @@ -47,28 +41,28 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - parameters = [{'robot_description': Command(['xacro ', default_model_path])}] + parameters=[{'robot_description': Command(['xacro ', default_model_path])}] ) controller_manager = Node( package='controller_manager', executable='ros2_control_node', output='screen', - parameters = [params] + parameters=[params] ) joint_state_broadcaster = Node( package='controller_manager', executable='spawner', output='screen', - arguments= ["joint_state_broadcaster"] + arguments=["joint_state_broadcaster"] ) diffbot_base_controller = Node( package='controller_manager', executable='spawner', output='both', - arguments= [ + arguments=[ "diffbot_base_controller", "-p", params, @@ -89,7 +83,6 @@ def generate_launch_description(): ) return LaunchDescription([ - starting_position_arg, visualize_arg, odom_broadcast, robot_state_publisher, diff --git a/toid_navigation/launch/navigation_launch.py b/toid_navigation/launch/navigation_launch.py new file mode 100644 index 0000000..c1c3289 --- /dev/null +++ b/toid_navigation/launch/navigation_launch.py @@ -0,0 +1,112 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +import os + +def generate_launch_description(): + pkg_share = FindPackageShare("").find('toid_navigation') + params = os.path.join(pkg_share, 'params', 'toid_general_params.yaml') + map = os.path.join(pkg_share, 'maps', 'mapb2_5cm.yaml') + launch_dir = os.path.join(pkg_share, 'launch') + default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'nav2.rviz') + + position = "0.756 0.225 0 0 0 0".split(' ') + #position = "0 0 0 0 0 0".split(' ') + + visualize = LaunchConfiguration("visualize") + visualize_arg = DeclareLaunchArgument( + 'visualize', + default_value='True', + description="Whether to launch rviz2" + ) + + toid_control = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'mock_control_launch.py') + ), + launch_arguments={ + 'visualize': 'False' + }.items() + ) + + set_position = Node( + package='tf2_ros', + executable='static_transform_publisher', + name='map_to_odom_broadcaster', + arguments=position + ['map', 'odom'], + condition=IfCondition(visualize) + ) + + map_server = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map}] + ) + + planner_server = Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + parameters=[params] + ) + + controller_server = Node( + package='nav2_controller', + executable='controller_server', + name='controller_server', + output='screen', + parameters=[params] + ) + + bt_navigator = Node( + package='nav2_bt_navigator', + executable='bt_navigator', + name='bt_navigator', + output='screen', + parameters=[params] + ) + + behavior_server = Node( + package='nav2_behaviors', + executable='behavior_server', + name='behavior_server', + output='screen', + parameters=[params] + ) + + lifecycle_manager_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager', + output='screen', + parameters=[params] + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', default_rviz_config_path], + condition=IfCondition(visualize) + ) + + return LaunchDescription([ + visualize_arg, + set_position, + rviz_node, + map_server, + bt_navigator, + behavior_server, + planner_server, + controller_server, + lifecycle_manager_node, + toid_control + ]) \ No newline at end of file diff --git a/toid_navigation/params/toid_general_params.yaml b/toid_navigation/params/toid_general_params.yaml index 87e21fb..5a11780 100644 --- a/toid_navigation/params/toid_general_params.yaml +++ b/toid_navigation/params/toid_general_params.yaml @@ -1,3 +1,46 @@ +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + error_code_names: + - compute_path_error_code + - follow_path_error_code + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_footprint + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.1 + rotational_acc_lim: 3.2 + global_costmap: global_costmap: ros__parameters: @@ -6,7 +49,6 @@ global_costmap: global_frame: map robot_base_frame: base_footprint robot_radius: 0.17 - resolution: 0.01 track_unknown_space: false rolling_window: false plugins: ["static_layer", "inflation_layer"] @@ -16,18 +58,157 @@ global_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.23 + inflation_radius: 0.25 always_send_full_costmap: True +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + footprint: "[[-0.13, 0.16], [0.13, 0.16], [0.13, -0.16], [-0.13, -0.16]]" + global_frame: odom + robot_base_frame: base_footprint + rolling_window: true + width: 2 + height: 2 + resolution: 0.025 + introspection_mode: "disabled" + plugins: ["static_layer", "inflation_layer"] + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.25 + +planner_server: + ros__parameters: + allow_partial_planning: false + expected_planner_frequency: 20.0 + costmap_update_timeout: 1.0 + introspection_mode: "disabled" + planner_plugins: ['GridBased'] + GridBased: + plugin: 'nav2_navfn_planner::NavfnPlanner' + +controller_server: + ros__parameters: + controller_frequency: 20.0 + costmap_update_timeout: 0.3 + failure_tolerance: 0.3 + odom_topic: "odom" + odom_duration: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["goal_checker"] + controller_plugins: ["FollowPath"] + enable_stamped_cmd_vel: True + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.05 + movement_time_allowance: 10.0 + goal_checker: + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.10 + yaw_goal_tolerance: 0.10 + stateful: True + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + ax_max: 3.0 + ax_min: -3.0 + ay_max: 3.0 + ay_min: -3.0 + az_max: 3.5 + vx_std: 0.2 + vy_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.5 + wz_max: 1.9 + iteration_count: 1 + prune_distance: 1.7 + transform_tolerance: 0.1 + temperature: 0.3 + gamma: 0.015 + motion_model: "DiffDrive" + visualize: true + regenerate_noises: true + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.2 + critics: [ + "ConstraintCritic", "CostCritic", "GoalCritic", + "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", + "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + near_collision_cost: 253 + critical_cost: 300.0 + consider_footprint: false + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + mode: 0 + lifecycle_manager: ros__parameters: autostart: true - node_names: ['map_server'] + node_names: ['controller_server','planner_server','behavior_server','map_server','bt_navigator' ] controller_manager: ros__parameters: - update_rate: 10 # Hz + update_rate: 20 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster @@ -42,6 +223,7 @@ diffbot_base_controller: wheel_separation: 0.29 wheel_radius: 0.04 + use_stamped_vel: false wheel_separation_multiplier: 1.0 left_wheel_radius_multiplier: 1.0 @@ -50,29 +232,9 @@ diffbot_base_controller: publish_rate: 50.0 odom_frame_id: odom base_frame_id: base_footprint - pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] - twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] open_loop: true enable_odom_tf: true + publish_limited_velocity: true - cmd_vel_timeout: 0.5 - - linear.x.has_velocity_limits: true - linear.x.has_acceleration_limits: true - linear.x.has_jerk_limits: false - linear.x.max_velocity: 1.0 - linear.x.min_velocity: -1.0 - linear.x.max_acceleration: 1.0 - linear.x.max_jerk: 0.0 - linear.x.min_jerk: 0.0 - - angular.z.has_velocity_limits: true - angular.z.has_acceleration_limits: true - angular.z.has_jerk_limits: false - angular.z.max_velocity: 1.0 - angular.z.min_velocity: -1.0 - angular.z.max_acceleration: 1.0 - angular.z.min_acceleration: -1.0 - angular.z.max_jerk: 0.0 - angular.z.min_jerk: 0.0 \ No newline at end of file + cmd_vel_timeout: 1.0 \ No newline at end of file diff --git a/toid_navigation/rviz/nav2.rviz b/toid_navigation/rviz/nav2.rviz new file mode 100644 index 0000000..0563bc8 --- /dev/null +++ b/toid_navigation/rviz/nav2.rviz @@ -0,0 +1,302 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /GlobalCostMap1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 592 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + 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: 0.05000000074505806 + 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: 64 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + lidar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: GlobalCostMap + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.5 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: LocalCostMap + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + 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: /plan + 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 + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/XYOrbit + Distance: 1.4671714305877686 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.8760442137718201 + Y: -0.15811485052108765 + Z: -8.940696716308594e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.3697962760925293 + Target Frame: + Value: XYOrbit (rviz_default_plugins) + Yaw: 4.628584861755371 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 896 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000254000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002de000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002defc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002de000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005d30000003efc0100000002fb0000000800540069006d00650100000000000005d3000002de00fffffffb0000000800540069006d0065010000000000000450000000000000000000000264000002de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1491 + X: 429 + Y: 75 diff --git a/toid_navigation/rviz/ros_control.rviz b/toid_navigation/rviz/ros_control.rviz index c9ca39a..6f0a998 100644 --- a/toid_navigation/rviz/ros_control.rviz +++ b/toid_navigation/rviz/ros_control.rviz @@ -3,7 +3,9 @@ Panels: Help Height: 78 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /GlobalCostMap1/Topic1 + - /Polygon1 Splitter Ratio: 0.5 Tree Height: 592 - Class: rviz_common/Selection @@ -105,6 +107,42 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true + - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: GlobalCostMap + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -151,25 +189,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/XYOrbit - Distance: 2.6907618045806885 + Distance: 2.5692176818847656 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 + X: -0.0017188787460327148 + Y: -0.4051821231842041 Z: 0 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.4453992545604706 + Pitch: 0.8797978162765503 Target Frame: Value: XYOrbit (rviz_default_plugins) - Yaw: 0.8803985118865967 + Yaw: 4.3135762214660645 Saved: ~ Window Geometry: Displays: @@ -187,5 +225,5 @@ Window Geometry: Views: collapsed: false Width: 1491 - X: 1980 - Y: 60 + X: 476 + Y: 75