diff --git a/rviz/dabo_companion.rviz b/rviz/dabo_companion.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..e0a04099bfd44fcf7e2b5dcedc7539b5446aed4b
--- /dev/null
+++ b/rviz/dabo_companion.rviz
@@ -0,0 +1,554 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /TF1/Frames1
+ - /Sensors1
+ Splitter Ratio: 0.5936599373817444
+ Tree Height: 643
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ 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: FrontLaserScan
+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: 100
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ dabo/base_footprint:
+ Value: true
+ dabo/base_link:
+ Value: true
+ dabo/body:
+ Value: true
+ dabo/caster_support:
+ Value: true
+ dabo/front_caster_wheel:
+ Value: true
+ dabo/front_hokuyo_base:
+ Value: true
+ dabo/front_hokuyo_scan_frame:
+ Value: true
+ dabo/front_support:
+ Value: true
+ dabo/head:
+ Value: true
+ dabo/head_servo1:
+ Value: true
+ dabo/head_servo2:
+ Value: true
+ dabo/head_servo3:
+ Value: true
+ dabo/left_arm:
+ Value: true
+ dabo/left_arm_servo1:
+ Value: true
+ dabo/left_arm_servo2:
+ Value: true
+ dabo/left_wheel_link:
+ Value: true
+ dabo/odom:
+ Value: true
+ dabo/rear_caster_wheel:
+ Value: true
+ dabo/rear_hokuyo_base:
+ Value: true
+ dabo/rear_hokuyo_scan_frame:
+ Value: true
+ dabo/rear_support:
+ Value: true
+ dabo/right_arm:
+ Value: true
+ dabo/right_arm_servo1:
+ Value: true
+ dabo/right_arm_servo2:
+ Value: true
+ dabo/right_wheel_link:
+ Value: true
+ dabo/top_plate:
+ Value: true
+ map:
+ Value: true
+ world:
+ Value: true
+ world_body:
+ Value: true
+ Marker Scale: 0.25
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ dabo/odom:
+ dabo/base_footprint:
+ dabo/base_link:
+ dabo/caster_support:
+ {}
+ dabo/front_hokuyo_base:
+ dabo/front_hokuyo_scan_frame:
+ {}
+ dabo/front_support:
+ dabo/front_caster_wheel:
+ {}
+ dabo/left_wheel_link:
+ {}
+ dabo/rear_hokuyo_base:
+ dabo/rear_hokuyo_scan_frame:
+ {}
+ dabo/rear_support:
+ dabo/rear_caster_wheel:
+ {}
+ dabo/right_wheel_link:
+ {}
+ dabo/top_plate:
+ dabo/body:
+ {}
+ dabo/head_servo1:
+ dabo/head_servo2:
+ dabo/head_servo3:
+ dabo/head:
+ {}
+ dabo/left_arm_servo1:
+ dabo/left_arm_servo2:
+ dabo/left_arm:
+ {}
+ dabo/right_arm_servo1:
+ dabo/right_arm_servo2:
+ dabo/right_arm:
+ {}
+ Update Interval: 0
+ 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
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_hokuyo_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_hokuyo_scan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head_servo1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head_servo2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head_servo3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm_servo1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_arm_servo2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_caster_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_hokuyo_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_hokuyo_scan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_support:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm_servo1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_arm_servo2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_plate:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: dabo/robot_description
+ TF Prefix: dabo
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.30000001192092896
+ 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: 0.5
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /dabo/odom
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 85; 0; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: FrontLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /dabo/sensors/front_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 85; 170; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 999999
+ Min Color: 0; 0; 0
+ Min Intensity: 999999
+ Name: RearLaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /dabo/sensors/rear_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /dabo/bumblebee2_left/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: LeftImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /dabo/bumblebee2_right/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RightImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ - Class: rviz/Camera
+ Enabled: false
+ Image Rendering: background and overlay
+ Image Topic: /dabo/bumblebee2_right/image_raw
+ Name: RightCamera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Visibility:
+ Grid: true
+ RobotModel: true
+ Sensors:
+ Camera:
+ LeftCamera: true
+ LeftImage: true
+ RightCamera: true
+ RightImage: true
+ Value: true
+ FrontLaserScan: true
+ Odometry: true
+ RearLaserScan: true
+ Value: true
+ TF: true
+ Value: true
+ Zoom Factor: 1
+ - Class: rviz/Camera
+ Enabled: false
+ Image Rendering: background and overlay
+ Image Topic: /dabo/bumblebee2_left/image_raw
+ Name: LeftCamera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: false
+ Visibility:
+ Grid: true
+ RobotModel: true
+ Sensors:
+ Camera:
+ LeftCamera: true
+ LeftImage: true
+ RightCamera: true
+ RightImage: true
+ Value: true
+ FrontLaserScan: true
+ Odometry: true
+ RearLaserScan: true
+ Value: true
+ TF: true
+ Value: true
+ Zoom Factor: 1
+ Enabled: false
+ Name: Camera
+ Enabled: true
+ Name: Sensors
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: dabo/odom
+ 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
+ Theta std deviation: 0.2617993950843811
+ Topic: /dabo/initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /dabo/move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 10
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7853981852531433
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.7853981852531433
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 872
+ Hide Left Dock: false
+ Hide Right Dock: false
+ LeftCamera:
+ collapsed: false
+ LeftImage:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a0000030efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000030e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000035f000002b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055d0000015bfc0100000006fb00000012004c0065006600740049006d0061006700650000000000000003070000007a00fffffffb00000014005200690067006800740049006d006100670065000000030d000002500000008300fffffffb00000014004c00650066007400430061006d00650072006100000002b1000002ac0000008400fffffffb000000160052006900670068007400430061006d0065007200610000000498000000c50000008d00fffffffb0000000800540069006d00650000000000000004b0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003ed0000030e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RightCamera:
+ collapsed: false
+ RightImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1373
+ X: 67
+ Y: 0