566 lines
17 KiB
YAML
566 lines
17 KiB
YAML
Panels:
|
|
- Class: rviz_common/Displays
|
|
Help Height: 138
|
|
Name: Displays
|
|
Property Tree Widget:
|
|
Expanded:
|
|
- /Global Options1
|
|
- /TF1
|
|
- /Map1/Status1
|
|
- /Cartographer1
|
|
- /PointCloud21
|
|
- /PointCloud21/Autocompute Value Bounds1
|
|
Splitter Ratio: 0.3916349709033966
|
|
Tree Height: 1754
|
|
- Class: rviz_common/Selection
|
|
Name: Selection
|
|
- Class: rviz_common/Tool Properties
|
|
Expanded:
|
|
- /Publish Point1
|
|
- /2D Pose Estimate1
|
|
Name: Tool Properties
|
|
Splitter Ratio: 0.5886790156364441
|
|
- Class: rviz_common/Views
|
|
Expanded:
|
|
- /Current View1
|
|
Name: Views
|
|
Splitter Ratio: 0.5
|
|
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>
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Value: true
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|
- Class: rviz_default_plugins/TF
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Enabled: true
|
|
Filter (blacklist): ""
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Filter (whitelist): ""
|
|
Frame Timeout: 15
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|
Frames:
|
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All Enabled: true
|
|
FL_FOOT:
|
|
Value: true
|
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FL_HIP:
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|
Value: true
|
|
FL_SHANK:
|
|
Value: true
|
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FL_THIGH:
|
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Value: true
|
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FR_FOOT:
|
|
Value: true
|
|
FR_HIP:
|
|
Value: true
|
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FR_SHANK:
|
|
Value: true
|
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FR_THIGH:
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Value: true
|
|
HL_FOOT:
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Value: true
|
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HL_HIP:
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|
Value: true
|
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HL_SHANK:
|
|
Value: true
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HL_THIGH:
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Value: true
|
|
HR_FOOT:
|
|
Value: true
|
|
HR_HIP:
|
|
Value: true
|
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HR_SHANK:
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|
Value: true
|
|
HR_THIGH:
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|
Value: true
|
|
TORSO:
|
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Value: true
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|
base:
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Value: true
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camera_d435:
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Value: true
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|
imu_link:
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Value: true
|
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lidar_lslidar:
|
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Value: true
|
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odom:
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Value: true
|
|
Marker Scale: 1
|
|
Name: TF
|
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Show Arrows: true
|
|
Show Axes: true
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|
Show Names: true
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Tree:
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odom:
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base:
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TORSO:
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FL_HIP:
|
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FL_THIGH:
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FL_SHANK:
|
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FL_FOOT:
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{}
|
|
FR_HIP:
|
|
FR_THIGH:
|
|
FR_SHANK:
|
|
FR_FOOT:
|
|
{}
|
|
HL_HIP:
|
|
HL_THIGH:
|
|
HL_SHANK:
|
|
HL_FOOT:
|
|
{}
|
|
HR_HIP:
|
|
HR_THIGH:
|
|
HR_SHANK:
|
|
HR_FOOT:
|
|
{}
|
|
imu_link:
|
|
{}
|
|
camera_d435:
|
|
{}
|
|
lidar_lslidar:
|
|
{}
|
|
Update Interval: 0
|
|
Value: true
|
|
- Angle Tolerance: 0.10000000149011612
|
|
Class: rviz_default_plugins/Odometry
|
|
Covariance:
|
|
Orientation:
|
|
Alpha: 0.5
|
|
Color: 255; 255; 127
|
|
Color Style: Unique
|
|
Frame: Local
|
|
Offset: 1
|
|
Scale: 1
|
|
Value: true
|
|
Position:
|
|
Alpha: 0.30000001192092896
|
|
Color: 204; 51; 204
|
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Scale: 1
|
|
Value: true
|
|
Value: false
|
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Enabled: false
|
|
Keep: 100
|
|
Name: Odometry
|
|
Position Tolerance: 0.10000000149011612
|
|
Shape:
|
|
Alpha: 1
|
|
Axes Length: 1
|
|
Axes Radius: 0.10000000149011612
|
|
Color: 255; 25; 0
|
|
Head Length: 0.30000001192092896
|
|
Head Radius: 0.10000000149011612
|
|
Shaft Length: 1
|
|
Shaft Radius: 0.05000000074505806
|
|
Value: Arrow
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /odom
|
|
Value: false
|
|
- Alpha: 0.699999988079071
|
|
Binary representation: false
|
|
Binary threshold: 100
|
|
Class: rviz_default_plugins/Map
|
|
Color Scheme: map
|
|
Draw Behind: false
|
|
Enabled: true
|
|
Name: Map
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /map
|
|
Update Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /map_updates
|
|
Use Timestamp: false
|
|
Value: true
|
|
- Class: rviz_common/Group
|
|
Displays:
|
|
- Class: rviz_common/Group
|
|
Displays:
|
|
- Alpha: 0.699999988079071
|
|
Binary representation: false
|
|
Binary threshold: 100
|
|
Class: rviz_default_plugins/Map
|
|
Color Scheme: costmap
|
|
Draw Behind: true
|
|
Enabled: true
|
|
Name: Map
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /global_costmap/costmap
|
|
Update Topic:
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|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /global_costmap/costmap_updates
|
|
Use Timestamp: false
|
|
Value: true
|
|
- Alpha: 1
|
|
Buffer Length: 1
|
|
Class: rviz_default_plugins/Path
|
|
Color: 255; 0; 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: /global_plan
|
|
Value: true
|
|
Enabled: true
|
|
Name: Global Map
|
|
- Class: rviz_common/Group
|
|
Displays:
|
|
- Alpha: 1
|
|
Class: rviz_default_plugins/Polygon
|
|
Color: 25; 255; 0
|
|
Enabled: true
|
|
Name: Polygon
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /local_costmap/footprint
|
|
Value: true
|
|
- Alpha: 0.699999988079071
|
|
Binary representation: false
|
|
Binary threshold: 100
|
|
Class: rviz_default_plugins/Map
|
|
Color Scheme: costmap
|
|
Draw Behind: false
|
|
Enabled: true
|
|
Name: Map
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /local_costmap/costmap
|
|
Update Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /local_costmap/costmap_updates
|
|
Use Timestamp: false
|
|
Value: true
|
|
- Alpha: 1
|
|
Buffer Length: 1
|
|
Class: rviz_default_plugins/Path
|
|
Color: 255; 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
|
|
Enabled: true
|
|
Name: Local Map
|
|
- Alpha: 1
|
|
Arrow Length: 0.05000000074505806
|
|
Axes Length: 0.30000001192092896
|
|
Axes Radius: 0.009999999776482582
|
|
Class: rviz_default_plugins/PoseArray
|
|
Color: 0; 192; 0
|
|
Enabled: true
|
|
Head Length: 0.07000000029802322
|
|
Head Radius: 0.029999999329447746
|
|
Name: PoseArray
|
|
Shaft Length: 0.23000000417232513
|
|
Shaft Radius: 0.009999999776482582
|
|
Shape: Arrow (Flat)
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /particlecloud
|
|
Value: true
|
|
Enabled: false
|
|
Name: Navigation
|
|
- Class: rviz_common/Group
|
|
Displays:
|
|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 0.18203988671302795
|
|
Min Value: 0.18195410072803497
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: intensity
|
|
Class: rviz_default_plugins/PointCloud2
|
|
Color: 0; 255; 0
|
|
Color Transformer: FlatColor
|
|
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: scan_matched_points2
|
|
Position Transformer: XYZ
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.009999999776482582
|
|
Style: Boxes
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /scan_matched_points2
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: true
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
Enabled: true
|
|
Name: Trajectories
|
|
Namespaces:
|
|
{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /trajectory_node_list
|
|
Value: true
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
Enabled: false
|
|
Name: Constraints
|
|
Namespaces:
|
|
{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /constraint_list
|
|
Value: false
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
Enabled: false
|
|
Name: Landmark Poses
|
|
Namespaces:
|
|
{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /landmark_poses_list
|
|
Value: false
|
|
Enabled: true
|
|
Name: Cartographer
|
|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 4.224797248840332
|
|
Min Value: -0.040010638535022736
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: intensity
|
|
Class: rviz_default_plugins/PointCloud2
|
|
Color: 255; 255; 255
|
|
Color Transformer: AxisColor
|
|
Decay Time: 0
|
|
Enabled: true
|
|
Invert Rainbow: true
|
|
Max Color: 255; 255; 255
|
|
Max Intensity: 0
|
|
Min Color: 0; 0; 0
|
|
Min Intensity: 0
|
|
Name: PointCloud2
|
|
Position Transformer: XYZ
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.004999999888241291
|
|
Style: Flat Squares
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /scan/points
|
|
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: RGB8
|
|
Decay Time: 0
|
|
Enabled: false
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Max Intensity: 4096
|
|
Min Color: 0; 0; 0
|
|
Min Intensity: 0
|
|
Name: PointCloud2
|
|
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: Reliable
|
|
Value: /rgbd_d435/points
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: false
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Fixed Frame: odom
|
|
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/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
|
|
- 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
|
|
Transformation:
|
|
Current:
|
|
Class: rviz_default_plugins/TF
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Class: rviz_default_plugins/Orbit
|
|
Distance: 18.017410278320312
|
|
Enable Stereo Rendering:
|
|
Stereo Eye Separation: 0.05999999865889549
|
|
Stereo Focal Distance: 1
|
|
Swap Stereo Eyes: false
|
|
Value: false
|
|
Focal Point:
|
|
X: 1.4430718421936035
|
|
Y: -0.9982128739356995
|
|
Z: 1.1156216859817505
|
|
Focal Shape Fixed Size: true
|
|
Focal Shape Size: 0.05000000074505806
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.009999999776482582
|
|
Pitch: 0.9897968769073486
|
|
Target Frame: <Fixed Frame>
|
|
Value: Orbit (rviz_default_plugins)
|
|
Yaw: 3.1460328102111816
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 2166
|
|
Hide Left Dock: false
|
|
Hide Right Dock: false
|
|
QMainWindow State: 000000ff00000000fd0000000400000000000002f0000007d6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000070000007d60000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d000007d6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000070000007d60000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000b17000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: false
|
|
Width: 3964
|
|
X: 132
|
|
Y: 64
|