Panels: - Class: rviz/Displays Help Height: 81 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Global Planner1/GlobalPath1 - /Robot1 - /Robot1/TF1 - /Robot1/TF1/Frames1 Splitter Ratio: 0.6050959825515747 Tree Height: 352 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: Camera Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: false 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: 50 Reference Frame: Value: false - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map Draw Behind: true Enabled: true Name: Map Topic: /map Unreliable: false Use Timestamp: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 1.875 Min Value: -0.7749999761581421 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: 3DMap Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /amcl3d_node/map_point_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 0.699999988079071 Class: rviz/Polygon Color: 239; 41; 41 Enabled: true Name: Debug zone Topic: /record_zone Unreliable: false Value: true - Class: rviz/Group Displays: - Alpha: 1 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: TebPoses Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: /move_base_flex/TebLocalPlannerROS/teb_poses Unreliable: false Value: true - Class: rviz/Marker Enabled: true Marker Topic: /move_base_flex/TebLocalPlannerROS/teb_markers Name: TebMarker Namespaces: {} Queue Size: 100 Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: LocalPath 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: /move_base_flex/TebLocalPlannerROS/local_plan Unreliable: false Value: true - Alpha: 0.4000000059604645 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: false Name: LocalCostmap Topic: /move_base_flex/local_costmap/costmap Unreliable: false Use Timestamp: false Value: false - Class: rviz/Marker Enabled: true Marker Topic: /wf_marker Name: WFMarker Namespaces: {} Queue Size: 100 Value: true Enabled: false Name: Local Planner - Class: rviz/Group Displays: - Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 255; 25; 0 Enabled: true Head Length: 0.30000001192092896 Head Radius: 0.15000000596046448 Name: ActionTarget Shaft Length: 0.5 Shaft Radius: 0.029999999329447746 Shape: Arrow Topic: /current_goal Unreliable: false Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 0; 0; 0 Enabled: true Head Length: 0.30000001192092896 Head Radius: 0.15000000596046448 Name: CurIndex Shaft Length: 0.5 Shaft Radius: 0.029999999329447746 Shape: Arrow Topic: /current_pose Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/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: RecordPath Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: Axes Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /record_path Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 92; 53; 102 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: GlobalPath 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: /move_base_flex/SBPLLatticePlanner/plan Unreliable: false Value: true - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: false Name: GlobalCostmap Topic: /move_base_flex/global_costmap/costmap Unreliable: false Use Timestamp: false Value: false - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 239; 41; 41 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.4000000059604645 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Traffic Route Offset: X: 0 Y: 0 Z: 0.5 Pose Color: 239; 41; 41 Pose Style: Arrows Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.20000000298023224 Topic: /traffic_route_points Unreliable: false Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /traffic_route Name: Traffic Route Namespaces: {} Queue Size: 100 Value: true Enabled: true Name: Global Planner - Class: rviz/Group Displays: - 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_link: Alpha: 1 Show Axes: false Show Trail: false Value: true camera_front_base: Alpha: 1 Show Axes: false Show Trail: false camera_front_link: Alpha: 1 Show Axes: false Show Trail: false front_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true imu_link: Alpha: 1 Show Axes: false Show Trail: false laser_link: Alpha: 1 Show Axes: false Show Trail: false Value: true left_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true pic_link: Alpha: 1 Show Axes: false Show Trail: false Value: true right_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true top_laser_link: Alpha: 1 Show Axes: false Show Trail: false Value: true ultra_left_back_link: Alpha: 1 Show Axes: false Show Trail: false Value: true ultra_left_front_link: Alpha: 1 Show Axes: false Show Trail: false Value: true ultra_right_back_link: Alpha: 1 Show Axes: false Show Trail: false Value: true ultra_right_front_link: Alpha: 1 Show Axes: false Show Trail: false Value: true universal_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true Name: RobotModel Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: true Visual Enabled: true - Alpha: 1 Class: rviz/Polygon Color: 85; 0; 255 Enabled: true Name: Robot Footprint Topic: /move_base_flex/local_costmap/footprint Unreliable: false 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/LaserScan Color: 25; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.029999999329447746 Style: Flat Squares Topic: /scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 0.5 Buffer Length: 1 Class: rviz/Range Color: 255; 255; 255 Enabled: true Name: LeftFront Queue Size: 100 Topic: /ultra_left_front Unreliable: false Value: true - Alpha: 0.5 Buffer Length: 1 Class: rviz/Range Color: 255; 255; 255 Enabled: true Name: RightFront Queue Size: 100 Topic: /ultra_right_front Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 2.5057826042175293 Min Value: -0.012539923191070557 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 Name: 3DLaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /vlp_points Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 1.8540894985198975 Min Value: -0.6558758616447449 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 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: AMCL3DScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.029999999329447746 Style: Flat Squares Topic: /amcl3d_node/pointcloud_filtered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Arrow Length: 0.10000000149011612 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 138; 226; 52 Enabled: false Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: AMCL Particles Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: /particlecloud Unreliable: false Value: false - 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: true Tree: {} Update Interval: 0 Value: false - Angle Tolerance: 0.10000000149011612 Class: rviz/Odometry Covariance: Orientation: Alpha: 0.5 Color: 255; 255; 127 Color Style: Unique Frame: Local Offset: 1 Scale: 1 Value: true Position: Alpha: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: false Keep: 100 Name: Odometry Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 Color: 255; 25; 0 Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Arrow Topic: /odom Unreliable: false Value: false Enabled: true Name: Robot - Alpha: 1 Buffer Length: 1 Class: rviz/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: HA*Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: Axes Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /sPath Unreliable: false Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /visualizeNodes3DCosts Name: HA*Grid Namespaces: {} Queue Size: 100 Value: true - Alpha: 1 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: PoseArray Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: /visualizeNodes3DPoses Unreliable: false Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 52; 101; 164 Enabled: true Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Name: Pose Shaft Length: 1 Shaft Radius: 0.05000000074505806 Shape: Arrow Topic: /visualizeNodes3DPose Unreliable: false Value: true - Class: rviz/Marker Enabled: true Marker Topic: /move_base_flex/SBPLLatticePlanner/footprint_markers Name: Marker Namespaces: {} Queue Size: 100 Value: true - Class: rviz/Marker Enabled: true Marker Topic: /visualization_marker Name: Marker Namespaces: basic_shapes: true main_shapes: true Queue Size: 100 Value: true - Class: rviz/Camera Enabled: true Image Rendering: overlay Image Topic: /camera_front/image Name: Camera Overlay Alpha: 0.5 Queue Size: 2 Transport Hint: raw Unreliable: false Value: true Visibility: 3DMap: true Axes: true Debug zone: true Global Planner: ActionTarget: true CurIndex: true GlobalCostmap: true GlobalPath: true RecordPath: true Traffic Route: true Value: true Grid: true HA*Grid: true HA*Path: true Local Planner: LocalCostmap: true LocalPath: true TebMarker: true TebPoses: true Value: true WFMarker: true Map: true Marker: true Pose: true PoseArray: true Robot: 3DLaserScan: true AMCL Particles: true AMCL3DScan: true LaserScan: true LeftFront: true Odometry: true RightFront: true Robot Footprint: true RobotModel: true TF: true Value: true Value: true Zoom Factor: 1 - Class: rviz/Axes Enabled: true Length: 0.30000001192092896 Name: Axes Radius: 0.019999999552965164 Reference Frame: ar_marker_8 Value: true Enabled: true Global Options: Background Color: 255; 255; 255 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 Theta std deviation: 0.2617993950843811 Topic: /initialpose_ori X std deviation: 0.5 Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/traffic_goal - Class: rviz/PublishPoint Single click: false Topic: /clicked_point Value: true Views: Current: Class: rviz/ThirdPersonFollower Distance: 29.297164916992188 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 6.819253444671631 Y: 8.176711082458496 Z: 2.1989699234836735e-6 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.27479708194732666 Target Frame: Value: ThirdPersonFollower (rviz) Yaw: 4.750429630279541 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false Height: 846 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd000000040000000000000185000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000231000000bc0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000003efc0100000002fb0000000800540069006d00650100000000000004bf000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000334000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1215 X: 276 Y: 27