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quadruped_ros2_control
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quadruped_ros2_control/controllers/ocs2_quadruped_controller/config/visualize_ocs2.rviz

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add visualizer
2024-09-30 20:02:56 +08:00
Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /Optimized State Trajectory1
- /Target Trajectories1/Target Feet Trajectories1/Marker1
- /Target Trajectories1/Target Feet Trajectories1/Marker2
- /Target Trajectories1/Target Feet Trajectories1/Marker3
- /Target Trajectories1/Target Feet Trajectories1/Marker4
- /Target Trajectories1/Target Base Trajectory1
Splitter Ratio: 0.5
Tree Height: 477
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Pose Estimate1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.8294117450714111
Tree Height: 301
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: odom
Value: true
- Alpha: 0.4000000059604645
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_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tail_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
trunk:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
FL_calf:
Value: true
FL_calf_rotor:
Value: true
FL_foot:
Value: true
FL_hip:
Value: true
FL_hip_rotor:
Value: true
FL_thigh:
Value: true
FL_thigh_rotor:
Value: true
FR_calf:
Value: true
FR_calf_rotor:
Value: true
FR_foot:
Value: true
FR_hip:
Value: true
FR_hip_rotor:
Value: true
FR_thigh:
Value: true
FR_thigh_rotor:
Value: true
RL_calf:
Value: true
RL_calf_rotor:
Value: true
RL_foot:
Value: true
RL_hip:
Value: true
RL_hip_rotor:
Value: true
RL_thigh:
Value: true
RL_thigh_rotor:
Value: true
RR_calf:
Value: true
RR_calf_rotor:
Value: true
RR_foot:
Value: true
RR_hip:
Value: true
RR_hip_rotor:
Value: true
RR_thigh:
Value: true
RR_thigh_rotor:
Value: true
base:
Value: false
head_Link:
Value: true
imu_link:
Value: false
lidar_link:
Value: true
odom:
Value: false
tail_link:
Value: true
trunk:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: false
Show Names: false
Tree:
odom:
base:
trunk:
FL_hip:
FL_thigh:
FL_calf:
FL_foot:
{}
FL_calf_rotor:
{}
FL_thigh_rotor:
{}
FL_hip_rotor:
{}
FR_hip:
FR_thigh:
FR_calf:
FR_foot:
{}
FR_calf_rotor:
{}
FR_thigh_rotor:
{}
FR_hip_rotor:
{}
RL_hip:
RL_thigh:
RL_calf:
RL_foot:
{}
RL_calf_rotor:
{}
RL_thigh_rotor:
{}
RL_hip_rotor:
{}
RR_hip:
RR_thigh:
RR_calf:
RR_foot:
{}
RR_calf_rotor:
{}
RR_thigh_rotor:
{}
RR_hip_rotor:
{}
head_Link:
{}
imu_link:
{}
lidar_link:
{}
tail_link:
{}
Update Interval: 0
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Optimized State Trajectory
Namespaces:
CoM Trajectory: true
EE Trajectories: true
Future footholds: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/optimizedStateTrajectory
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Current State
Namespaces:
Center of Pressure: true
EE Forces: true
EE Positions: true
Support Polygon: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/currentState
Value: true
- Class: rviz_common/Group
Displays:
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Marker
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/desiredFeetTrajectory/LF
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Marker
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/desiredFeetTrajectory/LH
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Marker
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/desiredFeetTrajectory/RF
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Marker
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/desiredFeetTrajectory/RH
Value: true
Enabled: false
Name: Target Feet Trajectories
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Target Base Trajectory
Namespaces:
"": true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /legged_robot/desiredBaseTrajectory
Value: true
Enabled: true
Name: Target Trajectories
- Alpha: 1
Autocompute Intensity Bounds: true
Class: grid_map_rviz_plugin/GridMap
Color: 200; 200; 200
Color Layer: elevation
Color Transformer: GridMapLayer
Enabled: true
Height Layer: elevation
Height Transformer: GridMapLayer
History Length: 1
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 10
Min Color: 0; 0; 0
Min Intensity: 0
Name: GridMap
Show Grid Lines: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /raisim_heightmap
Use Rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 238; 238; 238
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 4.046566963195801
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.5368534326553345
Y: 0.8848452568054199
Z: 0.04236998409032822
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4303978383541107
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 5.236791610717773
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 655
Hide Left Dock: true
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000032c000002a7fc020000000afb0000001200530065006c0065006300740069006f006e000000006e000000b00000005d00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000006e000004770000005d00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003f000002a7000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000fb000000100044006900730070006c006100790073000000006e00000247000000cc00ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000023100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1024
X: 828
Y: 212