-
Notifications
You must be signed in to change notification settings - Fork 3
/
orbslam.rviz
503 lines (503 loc) · 13.6 KB
/
orbslam.rviz
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
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
Panels:
- Class: rviz/Displays
Help Height: 81
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /TF1/Tree1
- /Map1
- /Global Map1
- /Global Map1/Planner1
- /Local Map1
- /Local Map1/Planner1
- /Local Map1/Trajectory Cloud1
- /PoseWithCovariance1
- /Pose1
- /PoseWithCovariance2
Splitter Ratio: 0.5
Tree Height: 312
- 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: Image
Toolbars:
toolButtonStyle: 2
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: 30
Y: 30
Z: 0
Plane: XY
Plane Cell Count: 60
Reference Frame: <Fixed Frame>
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
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
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: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 0; 0
Color Transformer: FlatColor
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: Bumper Hit
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0799999982
Style: Spheres
Topic: /mobile_base/sensors/bumper_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Costmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Planner
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
Enabled: true
Name: Global Map
- Class: rviz/Group
Displays:
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Planner
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.800000012
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: total_cost
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 785.049988
Min Color: 0; 0; 0
Min Intensity: 29.3899994
Name: Cost Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0399999991
Style: Flat Squares
Topic: /move_base/DWAPlannerROS/cost_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: total_cost
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 9.62100029
Min Color: 0; 0; 0
Min Intensity: 3.62100005
Name: Trajectory Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0399999991
Style: Flat Squares
Topic: /move_base/DWAPlannerROS/trajectory_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
Enabled: true
Name: Local Map
- Alpha: 1
Arrow Length: 0.200000003
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 0; 192; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: Amcl Particle Swarm
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Full Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/NavfnROS/plan
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/PoseWithCovariance
Color: 0; 85; 255
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: PoseWithCovariance
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /initialpose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/Pose
Color: 0; 170; 0
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: Pose
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /goal_path
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: PoseWithCovariance
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Axes
Topic: /robot_pose
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /orb_camera/image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/MoveCamera
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/SetInitialPose
Topic: /robot_pose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/Measure
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Angle: -6.23502684
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Scale: 66.3339462
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz)
X: 17.9081345
Y: 13.0611181
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 719
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000289fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001ca000000d700fffffffb0000000a0049006d00610067006501000001f8000000b90000001600ffffff000000010000010f0000026efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000430000026e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003e60000028900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1366
X: 554
Y: 24