672 lines
20 KiB
YAML
672 lines
20 KiB
YAML
Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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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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- /TF1/Frames1
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- /TF1/Tree1
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Splitter Ratio: 0.5833333134651184
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Tree Height: 462
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- Class: rviz_common/Selection
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|
Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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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_common/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: nav2_rviz_plugins/Navigation 2
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Name: Navigation 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_default_plugins/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: 10
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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_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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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: ""
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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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_default_plugins/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_footprint:
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Value: true
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base_link:
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Value: true
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camera_link:
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Value: true
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imu_link:
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Value: true
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laser_frame:
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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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wheel_1:
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Value: true
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wheel_2:
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Value: true
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wheel_3:
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Value: true
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wheel_4:
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Value: true
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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_footprint:
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base_link:
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camera_link:
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{}
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imu_link:
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{}
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laser_frame:
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{}
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wheel_1:
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{}
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wheel_2:
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{}
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wheel_3:
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{}
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wheel_4:
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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_default_plugins/LaserScan
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Color: 255; 255; 255
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Color Transformer: Intensity
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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: 0
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: LaserScan
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Position Transformer: XYZ
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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: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /scan
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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: 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_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: ""
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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: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Bumper Hit
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Position Transformer: ""
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.07999999821186066
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Style: Spheres
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /mobile_base/sensors/bumper_pointcloud
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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: 1
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Class: rviz_default_plugins/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:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map_updates
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Class: nav2_rviz_plugins/ParticleCloud
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Color: 0; 180; 0
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Enabled: true
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Max Arrow Length: 0.30000001192092896
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Min Arrow Length: 0.019999999552965164
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|
Name: Amcl Particle Swarm
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Shape: Arrow (Flat)
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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|
Value: /particle_cloud
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Value: true
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- Class: rviz_common/Group
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Displays:
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- Alpha: 0.30000001192092896
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Class: rviz_default_plugins/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: Global Costmap
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Topic:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /global_costmap/costmap
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /global_costmap/costmap_updates
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Use Timestamp: false
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Value: true
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- Alpha: 0.30000001192092896
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Class: rviz_default_plugins/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: Downsampled Costmap
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Topic:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /downsampled_costmap
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /downsampled_costmap_updates
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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_default_plugins/Path
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Color: 255; 0; 0
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Enabled: true
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Head Diameter: 0.019999999552965164
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Head Length: 0.019999999552965164
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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: Path
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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: Arrows
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Radius: 0.029999999329447746
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Shaft Diameter: 0.004999999888241291
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Shaft Length: 0.019999999552965164
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Topic:
|
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /plan
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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_default_plugins/PointCloud2
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Color: 125; 125; 125
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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: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
|
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Name: VoxelGrid
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.05000000074505806
|
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Style: Boxes
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Topic:
|
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Depth: 5
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Durability Policy: Volatile
|
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Filter size: 10
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History Policy: Keep Last
|
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Reliability Policy: Reliable
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|
Value: /global_costmap/voxel_marked_cloud
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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: 1
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Class: rviz_default_plugins/Polygon
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Color: 25; 255; 0
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Enabled: false
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|
Name: Polygon
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Topic:
|
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Depth: 5
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Durability Policy: Volatile
|
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
|
|
Value: /global_costmap/published_footprint
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Value: false
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Enabled: true
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Name: Global Planner
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- Class: rviz_common/Group
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Displays:
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- Alpha: 0.699999988079071
|
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Class: rviz_default_plugins/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: Local Costmap
|
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Topic:
|
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Depth: 1
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Durability Policy: Transient Local
|
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Filter size: 10
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History Policy: Keep Last
|
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Reliability Policy: Reliable
|
|
Value: /local_costmap/costmap
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Update Topic:
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|
Depth: 5
|
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Durability Policy: Volatile
|
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History Policy: Keep Last
|
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Reliability Policy: Reliable
|
|
Value: /local_costmap/costmap_updates
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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_default_plugins/Path
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Color: 0; 12; 255
|
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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
|
|
Line Style: Lines
|
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Line Width: 0.029999999329447746
|
|
Name: Local 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
|
|
Radius: 0.029999999329447746
|
|
Shaft Diameter: 0.10000000149011612
|
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Shaft Length: 0.10000000149011612
|
|
Topic:
|
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Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
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|
History Policy: Keep Last
|
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Reliability Policy: Reliable
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|
Value: /local_plan
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Value: true
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- Class: rviz_default_plugins/MarkerArray
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Enabled: false
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|
Name: Trajectories
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Namespaces:
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{}
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Topic:
|
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Depth: 5
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Durability Policy: Volatile
|
|
History Policy: Keep Last
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Reliability Policy: Reliable
|
|
Value: /marker
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Value: false
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- Alpha: 1
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Class: rviz_default_plugins/Polygon
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Color: 25; 255; 0
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Enabled: true
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|
Name: Polygon
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Topic:
|
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Depth: 5
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|
Durability Policy: Volatile
|
|
Filter size: 10
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|
History Policy: Keep Last
|
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Reliability Policy: Reliable
|
|
Value: /local_costmap/published_footprint
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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_default_plugins/PointCloud2
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Color: 255; 255; 255
|
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Color Transformer: RGB8
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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: 4096
|
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Min Color: 0; 0; 0
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Min Intensity: 0
|
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Name: VoxelGrid
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Position Transformer: XYZ
|
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Selectable: true
|
|
Size (Pixels): 3
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|
Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic:
|
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Depth: 5
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|
Durability Policy: Volatile
|
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Filter size: 10
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|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /local_costmap/voxel_marked_cloud
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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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Enabled: true
|
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Name: Controller
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- Class: rviz_common/Group
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Displays:
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
|
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Median window: 5
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Min Value: 0
|
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Name: RealsenseCamera
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Normalize Range: true
|
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Topic:
|
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Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /intel_realsense_r200_depth/image_raw
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|
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
|
|
Min Value: -10
|
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Value: true
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Axis: Z
|
|
Channel Name: intensity
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|
Class: rviz_default_plugins/PointCloud2
|
|
Color: 255; 255; 255
|
|
Color Transformer: RGB8
|
|
Decay Time: 0
|
|
Enabled: true
|
|
Invert Rainbow: false
|
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Max Color: 255; 255; 255
|
|
Max Intensity: 4096
|
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Min Color: 0; 0; 0
|
|
Min Intensity: 0
|
|
Name: RealsenseDepthImage
|
|
Position Transformer: XYZ
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.009999999776482582
|
|
Style: Flat Squares
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /intel_realsense_r200_depth/points
|
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Use Fixed Frame: true
|
|
Use rainbow: true
|
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Value: true
|
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Enabled: false
|
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Name: Realsense
|
|
- Class: rviz_default_plugins/MarkerArray
|
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Enabled: true
|
|
Name: MarkerArray
|
|
Namespaces:
|
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{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /waypoints
|
|
Value: true
|
|
- Alpha: 1
|
|
Buffer Length: 1
|
|
Class: rviz_default_plugins/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: Path
|
|
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:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /local_plan
|
|
Value: true
|
|
- Alpha: 1
|
|
Buffer Length: 1
|
|
Class: rviz_default_plugins/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: Path
|
|
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:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /lookahead_collision_arc
|
|
Value: true
|
|
- Alpha: 1
|
|
Class: rviz_default_plugins/PointStamped
|
|
Color: 204; 41; 204
|
|
Enabled: true
|
|
History Length: 1
|
|
Name: PointStamped
|
|
Radius: 0.20000000298023224
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /lookahead_point
|
|
Value: true
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Fixed Frame: map
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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- Class: nav2_rviz_plugins/GoalTool
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Angle: -1.5707999467849731
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Class: rviz_default_plugins/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: 249.39932250976562
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Target Frame: <Fixed Frame>
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Value: TopDownOrtho (rviz_default_plugins)
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X: 0.8555871248245239
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Y: -4.082614421844482
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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: 932
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Hide Left Dock: false
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Hide Right Dock: true
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Navigation 2:
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collapsed: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000020b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000024e000001390000012600fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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RealsenseCamera:
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collapsed: false
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Selection:
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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: 1545
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X: 2193
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Y: 120
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