731 lines
21 KiB
YAML
731 lines
21 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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- /Global Options1
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- /Status1
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- /odometry1/odomPath1
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- /odometry1/PointCloud21
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Splitter Ratio: 0.5
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Tree Height: 567
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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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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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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: ""
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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: false
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Line Style:
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Line Width: 0.0299999993
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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: 160
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Reference Frame: <Fixed Frame>
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Value: false
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- Class: rviz/Axes
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Enabled: true
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Length: 1
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Name: Axes
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Radius: 0.100000001
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/Group
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Displays:
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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; 170; 0
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Enabled: false
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: gtPathlc
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /path_gt
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Unreliable: false
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Value: false
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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; 170; 0
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: gtPathLidar
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /path_gt_lidar
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Unreliable: false
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Value: true
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Enabled: false
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Name: GT
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- Class: rviz/Group
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Displays:
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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; 85; 0
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.100000001
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Name: odomPath
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /laser_odom_path
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Unreliable: false
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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/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 63.1004791
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Min Color: 0; 0; 0
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Min Intensity: -0.00678629428
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Name: PointCloud2
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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): 0.0500000007
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Style: Flat Squares
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Topic: /velodyne_cloud_2
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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: false
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Enabled: false
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Name: odometry
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- Class: rviz/Group
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Displays:
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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: 25; 255; 0
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: mappingPath
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /aft_mapped_path
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Unreliable: false
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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/PointCloud2
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Color: 255; 255; 255
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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: -999999
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Min Color: 0; 0; 0
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Min Intensity: 999999
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Name: allMapCloud
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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): 0.0500000007
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Style: Flat Squares
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Topic: /laser_cloud_map
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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: 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/PointCloud2
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Color: 255; 255; 255
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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: 15
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: surround
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Position Transformer: XYZ
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Queue Size: 1
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Selectable: true
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Size (Pixels): 1
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Size (m): 0.0500000007
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Style: Squares
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Topic: /laser_cloud_surround
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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: 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/PointCloud2
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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: 15.1000004
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: currPoints
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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): 2
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Size (m): 0.00999999978
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Style: Points
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Topic: /velodyne_cloud_registered
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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: 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/PointCloud2
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Color: 255; 0; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 63.0384331
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Min Color: 255; 0; 0
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Min Intensity: -0.00643126154
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Name: corner
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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): 0.200000003
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Style: Flat Squares
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Topic: /mapping_corner
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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: false
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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/PointCloud2
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Color: 255; 0; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 63.0818977
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Min Color: 0; 0; 0
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Min Intensity: -0.00524160406
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Name: surf
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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): 0.200000003
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Style: Flat Squares
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Topic: /mapping_surf
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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: false
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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/PointCloud2
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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: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 17.0880051
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Min Color: 0; 0; 0
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Min Intensity: -0.00679048989
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Name: used_corner
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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): 0.5
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Style: Flat Squares
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Topic: /mapping_used_corner
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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: false
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- Alpha: 1
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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/PointCloud2
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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: false
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Invert Rainbow: false
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Max Intensity: 63.0818977
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Min Intensity: -0.00524160406
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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): 0.5
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Style: Flat Squares
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Topic: /mapping_used_surf
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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: false
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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/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 21.0628471
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Min Intensity: -0.00662572403
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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): 0.100000001
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Style: Flat Squares
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Topic: /mapping_map_corner
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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: false
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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/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 63.0839233
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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): 0.100000001
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Style: Flat Squares
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Topic: /mapping_map_surf
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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: false
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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: 25; 255; 0
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Enabled: false
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Line Style: Lines
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Name: leftcameraPath
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Offset:
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /lc_path
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Unreliable: false
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Value: false
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Enabled: true
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Name: mapping
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- Class: rviz/Group
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Displays:
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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/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 15
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Min Color: 0; 0; 0
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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): 0.00999999978
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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: false
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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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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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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: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 63.0398712
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Min Color: 0; 0; 0
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Min Intensity: 0.0263746977
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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): 0.0500000007
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Style: Flat Squares
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Topic: /laser_cloud_flat
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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: false
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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/PointCloud2
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Color: 255; 255; 255
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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: 0.99000001
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: raw_data
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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): 0.0500000007
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Style: Flat Squares
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Topic: /velodyne_points
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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: 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/PointCloud2
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Color: 255; 0; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 0.123617291
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Min Color: 0; 0; 0
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Min Intensity: -0.00711920578
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Name: scan
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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): 0.200000003
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|
Style: Flat Squares
|
|
Topic: /laser_scanid_63
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: false
|
|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
|
Max Value: 10
|
|
Min Value: -10
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: intensity
|
|
Class: rviz/PointCloud2
|
|
Color: 255; 85; 0
|
|
Color Transformer: FlatColor
|
|
Decay Time: 0
|
|
Enabled: false
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Max Intensity: 62.075676
|
|
Min Color: 0; 0; 0
|
|
Min Intensity: -0.00705419574
|
|
Name: removPoints
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.200000003
|
|
Style: Flat Squares
|
|
Topic: /laser_remove_points
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: false
|
|
Enabled: false
|
|
Name: scan
|
|
- Class: rviz/Image
|
|
Enabled: true
|
|
Image Topic: /iris_0/stereo_camera/left/image_raw
|
|
Max Value: 1
|
|
Median window: 5
|
|
Min Value: 0
|
|
Name: Image
|
|
Normalize Range: true
|
|
Queue Size: 2
|
|
Transport Hint: raw
|
|
Unreliable: false
|
|
Value: true
|
|
- Class: rviz/TF
|
|
Enabled: true
|
|
Frame Timeout: 15
|
|
Frames:
|
|
All Enabled: true
|
|
Marker Scale: 1
|
|
Name: TF
|
|
Show Arrows: true
|
|
Show Axes: true
|
|
Show Names: true
|
|
Tree:
|
|
{}
|
|
Update Interval: 0
|
|
Value: true
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 0; 0; 0
|
|
Fixed Frame: camera_init
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz/Interact
|
|
Hide Inactive Objects: true
|
|
- Class: rviz/MoveCamera
|
|
- Class: rviz/Select
|
|
- Class: rviz/FocusCamera
|
|
- Class: rviz/Measure
|
|
- Class: rviz/SetInitialPose
|
|
Topic: /initialpose
|
|
- Class: rviz/SetGoal
|
|
Topic: /move_base_simple/goal
|
|
- Class: rviz/PublishPoint
|
|
Single click: true
|
|
Topic: /clicked_point
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Class: rviz/XYOrbit
|
|
Distance: 20.1141529
|
|
Enable Stereo Rendering:
|
|
Stereo Eye Separation: 0.0599999987
|
|
Stereo Focal Distance: 1
|
|
Swap Stereo Eyes: false
|
|
Value: false
|
|
Focal Point:
|
|
X: 0.675796986
|
|
Y: 1.08226371
|
|
Z: -2.30979848
|
|
Focal Shape Fixed Size: true
|
|
Focal Shape Size: 0.0500000007
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.00999999978
|
|
Pitch: 0.484797001
|
|
Target Frame: body
|
|
Value: XYOrbit (rviz)
|
|
Yaw: 4.52999926
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 1056
|
|
Hide Left Dock: false
|
|
Hide Right Dock: true
|
|
Image:
|
|
collapsed: false
|
|
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c6000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f4000000ca0000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: true
|
|
Width: 1855
|
|
X: 65
|
|
Y: 24
|