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Alejandro Lopez Gestoso
iri_turtlebot_launch
Commits
b67f5909
Commit
b67f5909
authored
3 years ago
by
Alejandro Lopez Gestoso
Browse files
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Plain Diff
Modified rviz config files
parent
708518e2
Branches
master
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rviz/amcl.rviz
+573
-0
573 additions, 0 deletions
rviz/amcl.rviz
rviz/gmapping.rviz
+573
-0
573 additions, 0 deletions
rviz/gmapping.rviz
rviz/odom.rviz
+488
-0
488 additions, 0 deletions
rviz/odom.rviz
with
1634 additions
and
0 deletions
rviz/amcl.rviz
0 → 100644
+
573
−
0
View file @
b67f5909
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
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rviz/gmapping.rviz
0 → 100644
+
573
−
0
View file @
b67f5909
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
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rviz/odom.rviz
0 → 100644
+
488
−
0
View file @
b67f5909
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
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