360 lines
10 KiB
YAML
360 lines
10 KiB
YAML
Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /TF1/Frames1
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- /TF1/Tree1
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- /Global Map1/Costmap1
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- /Global Map1/Planner1
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- /Local Map1/Polygon1
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- /Local Map1/Costmap1
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- /Local Map1/Planner1
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Splitter Ratio: 0.5
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Tree Height: 798
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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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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: LaserScan
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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: true
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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: 20
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Reference Frame: <Fixed Frame>
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Value: true
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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: false
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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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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: false
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base_link:
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Value: true
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camera_front_base:
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Value: false
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camera_front_link:
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Value: false
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front_wheel_link:
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Value: true
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imu_link:
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Value: false
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laser_link:
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Value: false
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left_wheel_link:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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right_wheel_link:
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Value: true
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universal_wheel_link:
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Value: false
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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map:
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odom:
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base_link:
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camera_front_base:
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camera_front_link:
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{}
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imu_link:
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{}
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laser_link:
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{}
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left_wheel_link:
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{}
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right_wheel_link:
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{}
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universal_wheel_link:
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front_wheel_link:
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{}
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Update Interval: 0
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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: 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
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Color: 0; 255; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 13069
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Min Color: 0; 0; 0
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Min Intensity: 28
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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): 0.030000001192092896
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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: true
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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: false
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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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Buffer Length: 1
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Class: rviz/Path
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Color: 0; 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: Planner Plan
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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/NavfnROS/plan
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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: 0.699999988079071
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: true
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Enabled: true
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Name: Costmap
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Topic: /move_base/global_costmap/costmap
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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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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: Planner
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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/DWAPlannerROS/global_plan
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Unreliable: false
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Value: true
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Enabled: true
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Name: Global Map
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Class: rviz/Polygon
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Color: 0; 0; 0
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Enabled: true
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Name: Polygon
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Topic: /move_base/local_costmap/footprint
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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: true
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Name: Costmap
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Topic: /move_base/local_costmap/costmap
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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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Buffer Length: 1
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Class: rviz/Path
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Color: 255; 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: Planner
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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/DWAPlannerROS/local_plan
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Unreliable: false
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Value: true
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Enabled: true
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Name: Local Map
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- Alpha: 1
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Arrow Length: 0.05000000074505806
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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: 0; 192; 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: Amcl Particles
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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: /particlecloud
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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: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: Goal
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Shaft Length: 0.5
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /move_base_simple/goal
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Unreliable: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/MoveCamera
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/Select
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose_ori
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/Measure
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Value: true
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Views:
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Current:
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Angle: 0.00420342106372118
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Class: rviz/TopDownOrtho
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Scale: 45.1125602722168
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Target Frame: <Fixed Frame>
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Value: TopDownOrtho (rviz)
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X: 2.0893993377685547
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Y: 1.4856263399124146
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1027
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd00000004000000000000018f000003a9fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a9000000c900fffffffb0000000a0049006d0061006700650000000317000000cc0000000000000000fb0000000a0049006d0061006700650000000318000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000036a000003a900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1279
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X: 0
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Y: 0
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