Add robot 1 image to streaming to GCS Rviz

Author: andrewjong

ground_control_station/ros_ws/src/gcs_bringup/rviz/gcs.rviz

@@ -6,8 +6,11 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-      Splitter Ratio: 0.5
-    Tree Height: 725
+        - /robot 11
+        - /robot 21
+        - /robot 31
+      Splitter Ratio: 0.6411764621734619
+    Tree Height: 752
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -26,6 +29,11 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
 Visualization Manager:
   Class: ""
   Displays:
@@ -101,6 +109,20 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /robot_1/odometry_conversion/odometry
           Value: true
+        - Class: rviz_default_plugins/Image
+          Enabled: true
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Robot 1 Image Left
+          Normalize Range: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_1/sensors/front_stereo/left/image_rect
+          Value: true
       Enabled: true
       Name: robot 1
     - Class: rviz_common/Group
@@ -109,7 +131,7 @@ Visualization Manager:
           Enabled: true
           Name: Marker
           Namespaces:
-            "": true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -261,33 +283,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 19.87488555908203
+      Distance: 16.989816665649414
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.4299687147140503
-        Y: -2.0854718685150146
-        Z: 3.9860916137695312
+        X: -0.5873028635978699
+        Y: -0.47332054376602173
+        Z: -0.03102908842265606
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7503980398178101
+      Pitch: 0.6553983688354492
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.923583030700684
+      Yaw: 3.5985805988311768
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 1043
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000035e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000003000000000000015600000379fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000379000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0056006900650077007300000002df000000d5000000a000ffffff00000001000001b900000379fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003b000003790000002800fffffffa000000000100000002fb000000240052006f0062006f00740020003100200049006d0061006700650020004c0065006600740100000000ffffffff000000a600fffffffb0000000a0056006900650077007300000006710000010f0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004650000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Robot 1 Image Left:
+    collapsed: false
   Selection:
     collapsed: false
   Time:
@@ -296,6 +320,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1850
-  X: 70
-  Y: 27
+  Width: 1920
+  X: 0
+  Y: 155

robot/ros_ws/src/robot_bringup/params/domain_bridge.yaml

@@ -19,6 +19,11 @@ topics:
     to_domain: 0
     type: nav_msgs/msg/Odometry
 
+  /robot_1/sensors/front_stereo/left/image_rect:
+    from_domain: 1
+    to_domain: 0
+    type: sensor_msgs/msg/Image
+
   /robot_2/vdb_mapping/vdb_map_visualization:
     from_domain: 2
     to_domain: 0