774 lines
22 KiB
YAML
774 lines
22 KiB
YAML
Panels:
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- Class: rviz/Displays
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Help Height: 81
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Global Planner1/GlobalPath1
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- /Robot1
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- /Robot1/TF1
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- /Robot1/TF1/Frames1
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Splitter Ratio: 0.6050959825515747
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Tree Height: 352
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- Class: rviz/Selection
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|
Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: Camera
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: false
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 50
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Reference Frame: <Fixed Frame>
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Value: false
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: true
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Enabled: true
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Name: Map
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Topic: /map
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 1.875
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Min Value: -0.7749999761581421
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: 3DMap
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /amcl3d_node/map_point_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 0.699999988079071
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Class: rviz/Polygon
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Color: 239; 41; 41
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Enabled: true
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Name: Debug zone
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Topic: /record_zone
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Unreliable: false
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Value: true
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Arrow Length: 0.30000001192092896
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Axes Length: 0.30000001192092896
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Axes Radius: 0.009999999776482582
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Class: rviz/PoseArray
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.07000000029802322
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Head Radius: 0.029999999329447746
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|
Name: TebPoses
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Shaft Length: 0.23000000417232513
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Shaft Radius: 0.009999999776482582
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Shape: Arrow (Flat)
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Topic: /move_base_flex/TebLocalPlannerROS/teb_poses
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Unreliable: false
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /move_base_flex/TebLocalPlannerROS/teb_markers
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Name: TebMarker
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 255; 0; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: LocalPath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base_flex/TebLocalPlannerROS/local_plan
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Unreliable: false
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Value: true
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- Alpha: 0.4000000059604645
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: false
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Name: LocalCostmap
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Topic: /move_base_flex/local_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /wf_marker
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Name: WFMarker
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: false
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Name: Local Planner
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.15000000596046448
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Name: ActionTarget
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Shaft Length: 0.5
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Shaft Radius: 0.029999999329447746
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Shape: Arrow
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Topic: /current_goal
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 0; 0; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.15000000596046448
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Name: CurIndex
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Shaft Length: 0.5
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Shaft Radius: 0.029999999329447746
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Shape: Arrow
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Topic: /current_pose
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 25; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: RecordPath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: Axes
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /record_path
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 92; 53; 102
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: GlobalPath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base_flex/SBPLLatticePlanner/plan
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Unreliable: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: false
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Name: GlobalCostmap
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Topic: /move_base_flex/global_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 239; 41; 41
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.4000000059604645
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: Traffic Route
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Offset:
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X: 0
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Y: 0
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Z: 0.5
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Pose Color: 239; 41; 41
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Pose Style: Arrows
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.20000000298023224
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Topic: /traffic_route_points
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Unreliable: false
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /traffic_route
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Name: Traffic Route
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: true
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Name: Global Planner
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
|
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Expand Link Details: false
|
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Expand Tree: false
|
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_front_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_front_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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front_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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|
imu_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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laser_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pic_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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top_laser_link:
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Alpha: 1
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|
Show Axes: false
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Show Trail: false
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Value: true
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ultra_left_back_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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ultra_left_front_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
|
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ultra_right_back_link:
|
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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ultra_right_front_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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|
universal_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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|
Value: true
|
|
Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
|
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Value: true
|
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Visual Enabled: true
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- Alpha: 1
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Class: rviz/Polygon
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Color: 85; 0; 255
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Enabled: true
|
|
Name: Robot Footprint
|
|
Topic: /move_base_flex/local_costmap/footprint
|
|
Unreliable: false
|
|
Value: true
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|
- Alpha: 1
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|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
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Max Value: 10
|
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/LaserScan
|
|
Color: 25; 255; 0
|
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Color Transformer: FlatColor
|
|
Decay Time: 0
|
|
Enabled: false
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
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Max Intensity: 0
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Min Color: 0; 0; 0
|
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Min Intensity: 0
|
|
Name: LaserScan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.029999999329447746
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Style: Flat Squares
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Topic: /scan
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 0.5
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Buffer Length: 1
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Class: rviz/Range
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Color: 255; 255; 255
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Enabled: true
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Name: LeftFront
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Queue Size: 100
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Topic: /ultra_left_front
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Unreliable: false
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|
Value: true
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- Alpha: 0.5
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Buffer Length: 1
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Class: rviz/Range
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Color: 255; 255; 255
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Enabled: true
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Name: RightFront
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Queue Size: 100
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Topic: /ultra_right_front
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Unreliable: false
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Value: true
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- Alpha: 1
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|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 2.5057826042175293
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|
Min Value: -0.012539923191070557
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|
Value: true
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|
Axis: Z
|
|
Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
|
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Max Color: 255; 255; 255
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Max Intensity: 0
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Min Color: 0; 0; 0
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Min Intensity: 0
|
|
Name: 3DLaserScan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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|
Size (Pixels): 3
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|
Size (m): 0.009999999776482582
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Style: Flat Squares
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|
Topic: /vlp_points
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|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
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|
Value: false
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|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 1.8540894985198975
|
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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
|
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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
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|
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
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|
Tree:
|
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{}
|
|
Update Interval: 0
|
|
Value: false
|
|
- Angle Tolerance: 0.10000000149011612
|
|
Class: rviz/Odometry
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|
Covariance:
|
|
Orientation:
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|
Alpha: 0.5
|
|
Color: 255; 255; 127
|
|
Color Style: Unique
|
|
Frame: Local
|
|
Offset: 1
|
|
Scale: 1
|
|
Value: true
|
|
Position:
|
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Alpha: 0.30000001192092896
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|
Color: 204; 51; 204
|
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Scale: 1
|
|
Value: true
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Value: true
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Enabled: false
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Keep: 100
|
|
Name: Odometry
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|
Position Tolerance: 0.10000000149011612
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Shape:
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Alpha: 1
|
|
Axes Length: 1
|
|
Axes Radius: 0.10000000149011612
|
|
Color: 255; 25; 0
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|
Head Length: 0.30000001192092896
|
|
Head Radius: 0.10000000149011612
|
|
Shaft Length: 1
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|
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: <Fixed 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
|