379 lines
12 KiB
YAML
379 lines
12 KiB
YAML
Panels:
|
|
- Class: rviz_common/Displays
|
|
Help Height: 195
|
|
Name: Displays
|
|
Property Tree Widget:
|
|
Expanded:
|
|
- /Global Options1
|
|
- /RobotModel1/Status1
|
|
- /TF1/Frames1
|
|
- /TF1/Tree1
|
|
- /Global Planner1/Global Costmap1
|
|
Splitter Ratio: 0.5833333134651184
|
|
Tree Height: 464
|
|
- Class: rviz_common/Selection
|
|
Name: Selection
|
|
- Class: rviz_common/Tool Properties
|
|
Expanded:
|
|
- /Publish Point1
|
|
Name: Tool Properties
|
|
Splitter Ratio: 0.5886790156364441
|
|
- Class: rviz_common/Views
|
|
Expanded:
|
|
- /Current View1
|
|
Name: Views
|
|
Splitter Ratio: 0.5
|
|
- Class: nav2_rviz_plugins/Navigation 2
|
|
Name: Navigation 2
|
|
Visualization Manager:
|
|
Class: ""
|
|
Displays:
|
|
- Alpha: 0.5
|
|
Cell Size: 1
|
|
Class: rviz_default_plugins/Grid
|
|
Color: 160; 160; 164
|
|
Enabled: true
|
|
Line Style:
|
|
Line Width: 0.029999999329447746
|
|
Value: Lines
|
|
Name: Grid
|
|
Normal Cell Count: 0
|
|
Offset:
|
|
X: 0
|
|
Y: 0
|
|
Z: 0
|
|
Plane: XY
|
|
Plane Cell Count: 10
|
|
Reference Frame: <Fixed Frame>
|
|
Value: true
|
|
- Alpha: 1
|
|
Class: rviz_default_plugins/RobotModel
|
|
Collision Enabled: false
|
|
Description File: ""
|
|
Description Source: Topic
|
|
Description Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/robot_description
|
|
Enabled: false
|
|
Links:
|
|
All Links Enabled: true
|
|
Expand Joint Details: false
|
|
Expand Link Details: false
|
|
Expand Tree: false
|
|
Link Tree Style: Links in Alphabetic Order
|
|
Name: RobotModel
|
|
TF Prefix: ""
|
|
Update Interval: 0
|
|
Value: true
|
|
Visual Enabled: true
|
|
- Class: rviz_default_plugins/TF
|
|
Enabled: true
|
|
Frame Timeout: 15
|
|
Frames:
|
|
All Enabled: false
|
|
Marker Scale: 1
|
|
Name: TF
|
|
Show Arrows: true
|
|
Show Axes: true
|
|
Show Names: false
|
|
Tree:
|
|
{}
|
|
Update Interval: 0
|
|
Value: true
|
|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 10
|
|
Min Value: -10
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: intensity
|
|
Class: rviz_default_plugins/LaserScan
|
|
Color: 255; 255; 255
|
|
Color Transformer: Intensity
|
|
Decay Time: 0
|
|
Enabled: true
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Max Intensity: 0
|
|
Min Color: 0; 0; 0
|
|
Min Intensity: 0
|
|
Name: LaserScan
|
|
Position Transformer: XYZ
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.009999999776482582
|
|
Style: Flat Squares
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Best Effort
|
|
Value: <robot_namespace>/scan
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: true
|
|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 10
|
|
Min Value: -10
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: intensity
|
|
Class: rviz_default_plugins/PointCloud2
|
|
Color: 255; 255; 255
|
|
Color Transformer: ""
|
|
Decay Time: 0
|
|
Enabled: true
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Max Intensity: 4096
|
|
Min Color: 0; 0; 0
|
|
Min Intensity: 0
|
|
Name: Bumper Hit
|
|
Position Transformer: ""
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.07999999821186066
|
|
Style: Spheres
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Best Effort
|
|
Value: <robot_namespace>/mobile_base/sensors/bumper_pointcloud
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: true
|
|
- Alpha: 1
|
|
Class: rviz_default_plugins/Map
|
|
Color Scheme: map
|
|
Draw Behind: true
|
|
Enabled: true
|
|
Name: Map
|
|
Topic:
|
|
Depth: 1
|
|
Durability Policy: Transient Local
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/map
|
|
Use Timestamp: false
|
|
Value: true
|
|
- Alpha: 1
|
|
Class: nav2_rviz_plugins/ParticleCloud
|
|
Color: 0; 180; 0
|
|
Enabled: true
|
|
Max Arrow Length: 0.3
|
|
Min Arrow Length: 0.02
|
|
Name: Amcl Particle Swarm
|
|
Shape: Arrow (Flat)
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Best Effort
|
|
Value: <robot_namespace>/particle_cloud
|
|
Value: true
|
|
- Class: rviz_common/Group
|
|
Displays:
|
|
- Alpha: 0.30000001192092896
|
|
Class: rviz_default_plugins/Map
|
|
Color Scheme: costmap
|
|
Draw Behind: false
|
|
Enabled: true
|
|
Name: Global Costmap
|
|
Topic:
|
|
Depth: 1
|
|
Durability Policy: Transient Local
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/global_costmap/costmap
|
|
Use Timestamp: false
|
|
Value: true
|
|
- Alpha: 1
|
|
Buffer Length: 1
|
|
Class: rviz_default_plugins/Path
|
|
Color: 255; 0; 0
|
|
Enabled: true
|
|
Head Diameter: 0.019999999552965164
|
|
Head Length: 0.019999999552965164
|
|
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: Arrows
|
|
Radius: 0.029999999329447746
|
|
Shaft Diameter: 0.004999999888241291
|
|
Shaft Length: 0.019999999552965164
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/plan
|
|
Value: true
|
|
- Alpha: 1
|
|
Class: rviz_default_plugins/Polygon
|
|
Color: 25; 255; 0
|
|
Enabled: false
|
|
Name: Polygon
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/global_costmap/published_footprint
|
|
Value: false
|
|
Enabled: true
|
|
Name: Global Planner
|
|
- Class: rviz_common/Group
|
|
Displays:
|
|
- Alpha: 0.699999988079071
|
|
Class: rviz_default_plugins/Map
|
|
Color Scheme: costmap
|
|
Draw Behind: false
|
|
Enabled: true
|
|
Name: Local Costmap
|
|
Topic:
|
|
Depth: 1
|
|
Durability Policy: Transient Local
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/local_costmap/costmap
|
|
Use Timestamp: false
|
|
Value: true
|
|
- Alpha: 1
|
|
Buffer Length: 1
|
|
Class: rviz_default_plugins/Path
|
|
Color: 0; 12; 255
|
|
Enabled: true
|
|
Head Diameter: 0.30000001192092896
|
|
Head Length: 0.20000000298023224
|
|
Length: 0.30000001192092896
|
|
Line Style: Lines
|
|
Line Width: 0.029999999329447746
|
|
Name: Local Plan
|
|
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
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/local_plan
|
|
Value: true
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
Enabled: false
|
|
Name: Trajectories
|
|
Namespaces:
|
|
{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/marker
|
|
Value: false
|
|
- Alpha: 1
|
|
Class: rviz_default_plugins/Polygon
|
|
Color: 25; 255; 0
|
|
Enabled: true
|
|
Name: Polygon
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/local_costmap/published_footprint
|
|
Value: true
|
|
Enabled: true
|
|
Name: Controller
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
Enabled: true
|
|
Name: MarkerArray
|
|
Namespaces:
|
|
{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/waypoints
|
|
Value: true
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Fixed Frame: map
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz_default_plugins/MoveCamera
|
|
- Class: rviz_default_plugins/Select
|
|
- Class: rviz_default_plugins/FocusCamera
|
|
- Class: rviz_default_plugins/Measure
|
|
Line color: 128; 128; 0
|
|
- Class: rviz_default_plugins/SetInitialPose
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: <robot_namespace>/initialpose
|
|
- Class: nav2_rviz_plugins/GoalTool
|
|
Transformation:
|
|
Current:
|
|
Class: rviz_default_plugins/TF
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Angle: -1.5708
|
|
Class: rviz_default_plugins/TopDownOrtho
|
|
Enable Stereo Rendering:
|
|
Stereo Eye Separation: 0.05999999865889549
|
|
Stereo Focal Distance: 1
|
|
Swap Stereo Eyes: false
|
|
Value: false
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.009999999776482582
|
|
Scale: 160
|
|
Target Frame: <Fixed Frame>
|
|
Value: TopDownOrtho (rviz_default_plugins)
|
|
X: 0
|
|
Y: 0
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 914
|
|
Hide Left Dock: false
|
|
Hide Right Dock: true
|
|
Navigation 2:
|
|
collapsed: false
|
|
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000338fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000003070000006e0000006200ffffff000000010000010f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000338000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: true
|
|
Width: 1545
|
|
X: 186
|
|
Y: 117
|