From b67f5909623eb941440707886e429a1b04bc7b6f Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Mon, 12 Jul 2021 16:54:11 +0200
Subject: [PATCH] Modified rviz config files
---
rviz/amcl.rviz | 573 +++++++++++++++++++++++++++++++++++++++++++++
rviz/gmapping.rviz | 573 +++++++++++++++++++++++++++++++++++++++++++++
rviz/odom.rviz | 488 ++++++++++++++++++++++++++++++++++++++
3 files changed, 1634 insertions(+)
create mode 100644 rviz/amcl.rviz
create mode 100644 rviz/gmapping.rviz
create mode 100644 rviz/odom.rviz
diff --git a/rviz/amcl.rviz b/rviz/amcl.rviz
new file mode 100644
index 0000000..1672827
--- /dev/null
+++ b/rviz/amcl.rviz
@@ -0,0 +1,573 @@
+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: true
+ 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: true
+ - 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
diff --git a/rviz/gmapping.rviz b/rviz/gmapping.rviz
new file mode 100644
index 0000000..9520a97
--- /dev/null
+++ b/rviz/gmapping.rviz
@@ -0,0 +1,573 @@
+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
diff --git a/rviz/odom.rviz b/rviz/odom.rviz
new file mode 100644
index 0000000..7c45121
--- /dev/null
+++ b/rviz/odom.rviz
@@ -0,0 +1,488 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Tree1
+ - /Sensors1
+ - /Odometry1/Shape1
+ 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: ""
+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: 0.2971999943256378
+ Min Value: 0.2971999943256378
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ 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: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Squares
+ Topic: /scan
+ Unreliable: false
+ 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: 3.188713788986206
+ Min Value: 0.6189851760864258
+ 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: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Bumpers
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ 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
+ - Angle Tolerance: 0.4000000059604645
+ Class: rviz/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
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.30000001192092896
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.10000000149011612
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.20000000298023224
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /odom
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: odom
+ 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: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 5.763321876525879
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.01801966316998005
+ Y: -0.0019086701795458794
+ Z: 0.23872405290603638
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.600398600101471
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 3.8685827255249023
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1025
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1853
+ X: 67
+ Y: 27
--
GitLab