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mydemo_3d.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /PointCloud22
- /Submaps1
- /PointCloud23
- /PointCloud23/Autocompute Value Bounds1
- /Constraints1
- /Constraints1/Namespaces1
Splitter Ratio: 0.688741744
Tree Height: 746
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
right_front_wheel:
Value: true
left_front_wheel:
Value: true
right_back_wheel:
Value: true
left_back_wheel:
Value: true
imu:
Value: true
map:
Value: true
rslidar:
Value: true
middle_link:
Value: true
pillar_left_back:
Value: true
pillar_left_front:
Value: true
pillar_right_back:
Value: true
pillar_right_front:
Value: true
top_link:
Value: true
top_pillar_left_back:
Value: true
top_pillar_left_front:
Value: true
top_pillar_right_back:
Value: true
top_pillar_right_front:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
base_footprint:
base_link:
right_front_wheel::
{}
left_front_wheel:
{}
right_back_wheel:
{}
left_back_wheel:
{}
pillar_left_back:
{}
pillar_left_front:
{}
pillar_right_back:
{}
pillar_right_front:
{}
imu:
{}
rslidar:
{}
middle_link:
top_link:
{}
top_pillar_left_back:
{}
top_pillar_left_front:
{}
top_pillar_right_back:
{}
top_pillar_right_front:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
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: true
Show Trail: false
base_link:
Alpha: 1
Show Axes: true
Show Trail: false
right_front_wheel:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
left_front_wheel:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
right_back_wheel:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
left_back_wheel:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
rslidar:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
pillar_left_back:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
pillar_left_front:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
pillar_right_back:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
pillar_right_front:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
middle_link:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
top_link:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
top_pillar_left_back:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
top_pillar_left_front:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
top_pillar_right_back:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
top_pillar_right_front:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 7.62650013
Min Value: 5.66666985
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 20; 220; 20
Color Transformer: FlatColor
Decay Time: 0.100000001
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 200
Selectable: true
Size (Pixels): 3
Size (m): 0.0299999993
Style: Flat Squares
Topic: /horizontal_laser_3d
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.6086998
Min Value: 3.77874994
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 240; 220; 20
Color Transformer: FlatColor
Decay Time: 0.100000001
Enabled: true
Invert Rainbow: true
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 200
Selectable: true
Size (Pixels): 3
Size (m): 0.0299999993
Style: Flat Squares
Topic: /rslidar_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: Submaps
Enabled: true
Fade-out distance: 1
High Resolution: true
Low Resolution: false
Name: Submaps
Submap query service: /submap_query
Submaps:
All: true
Trajectory 0:
0.320: true
1.320: true
2.320: true
3.320: true
4.320: true
5.320: true
6.320: true
7.299: true
8.139: true
Value: true
Topic: /submap_list
Tracking frame: base_link
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 0; 255; 0
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 20
Selectable: true
Size (Pixels): 3
Size (m): 0.0500000007
Style: Flat Squares
Topic: /scan_matched_points2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /trajectory_node_list
Name: Trajectories
Namespaces:
Trajectory 0: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /landmark_poses_list
Name: Landmark Poses
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /constraint_list
Name: Constraints
Namespaces:
Inter constraints, different trajectories: true
Inter constraints, same trajectory: true
Inter residuals, different trajectories: true
Inter residuals, same trajectory: true
Intra constraints: true
Intra residuals: true
Queue Size: 100
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Global Options:
Background Color: 100; 100; 100
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/TopDownOrtho
Distance: 39.7251205
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -38.4671669
Y: -55.2902985
Z: -2.41043234
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.44979727
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.96453643
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1871
X: 49
Y: 24