gmapping.rviz 16.8 KB
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Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Tree1
        - /Navigation1
      Splitter Ratio: 0.5
    Tree Height: 796
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.5
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
    Name: Tool Properties
    Splitter Ratio: 0.5
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/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: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        cliff_sensor_front_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_sensor_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        cliff_sensor_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        gyro_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        laser:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_bottom_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_middle_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        plate_top_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_bottom_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_kinect_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_kinect_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_middle_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        pole_top_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: false
      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: false
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 0.22759999334812164
            Min Value: 0.22759999334812164
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/LaserScan
          Color: 255; 255; 255
          Color Transformer: AxisColor
          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: LaserScan
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 5
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /scan
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 1
          Auto Size:
            Auto Size Factor: 1
            Value: true
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 3.050745725631714
            Min Value: 0.7270032167434692
            Value: true
          Axis: X
          Channel Name: intensity
          Class: rviz/DepthCloud
          Color: 255; 255; 255
          Color Image Topic: ""
          Color Transformer: AxisColor
          Color Transport Hint: raw
          Decay Time: 0
          Depth Map Topic: /camera/depth/image_raw
          Depth Map Transport Hint: raw
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: DepthCloud
          Occlusion Compensation:
            Occlusion Time-Out: 30
            Value: false
          Position Transformer: XYZ
          Queue Size: 5
          Selectable: true
          Size (Pixels): 3
          Style: Points
          Topic Filter: true
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Alpha: 1
          Auto Size:
            Auto Size Factor: 1
            Value: true
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/DepthCloud
          Color: 255; 255; 255
          Color Image Topic: /camera/rgb/image_raw
          Color Transformer: RGB8
          Color Transport Hint: raw
          Decay Time: 0
          Depth Map Topic: /camera/depth/image_raw
          Depth Map Transport Hint: raw
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: Registered DepthCloud
          Occlusion Compensation:
            Occlusion Time-Out: 30
            Value: false
          Position Transformer: XYZ
          Queue Size: 5
          Selectable: true
          Size (Pixels): 3
          Style: Points
          Topic Filter: true
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Class: rviz/Image
          Enabled: false
          Image Topic: /camera/rgb/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: 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: 245; 121; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 164; 0; 0
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: Bumpers
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 8
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /mobile_base/sensors/bumper_pointcloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: true
      Name: Sensors
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: false
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /turtlebot_marker_server/update
      Value: false
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: map
          Draw Behind: false
          Enabled: true
          Name: Map
          Topic: /turtlebot/map
          Unreliable: false
          Use Timestamp: false
          Value: true
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: GlobalCostmap
          Topic: /turtlebot/move_base/global_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: LocalCostmap
          Topic: /turtlebot/move_base/local_costmap/costmap
          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 1
          Arrow Length: 0.30000001192092896
          Axes Length: 0.30000001192092896
          Axes Radius: 0.009999999776482582
          Class: rviz/PoseArray
          Color: 255; 25; 0
          Enabled: false
          Head Length: 0.07000000029802322
          Head Radius: 0.029999999329447746
          Name: AmclParticles
          Shaft Length: 0.23000000417232513
          Shaft Radius: 0.009999999776482582
          Shape: Arrow (Flat)
          Topic: /turtlebot/particlecloud
          Unreliable: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/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: GlobalPath
          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: /turtlebot/move_base/GlobalPlanner/plan
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 32; 74; 135
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: LocalPath
          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: /turtlebot/move_base/DWAPlannerROS/local_plan
          Unreliable: false
          Value: true
        - Alpha: 1
          Axes Length: 1
          Axes Radius: 0.10000000149011612
          Class: rviz/Pose
          Color: 252; 233; 79
          Enabled: true
          Head Length: 0.30000001192092896
          Head Radius: 0.10000000149011612
          Name: Goal
          Shaft Length: 1
          Shaft Radius: 0.05000000074505806
          Shape: Arrow
          Topic: /turtlebot/move_base/current_goal
          Unreliable: false
          Value: true
      Enabled: true
      Name: Navigation
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /turtlebot/initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /turtlebot/move_base_simple/goal
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 12.930249214172363
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -0.14254900813102722
        Y: 0.14737749099731445
        Z: 0.2968730032444
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.1997966766357422
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 4.7135844230651855
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1025
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1853
  X: 67
  Y: 27