diff --git a/darwin_nav/config/darwin_nav.rviz b/darwin_nav/config/darwin_nav.rviz new file mode 100644 index 0000000000000000000000000000000000000000..de4a4bf93b06235b15c8bcf246747e3e7707a649 --- /dev/null +++ b/darwin_nav/config/darwin_nav.rviz @@ -0,0 +1,428 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + - /local_plan1 + Splitter Ratio: 0.385563 + Tree Height: 655 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: <Fixed Frame> + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: /darwin + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + E125: + Value: true + E175: + Value: true + E225: + Value: true + E25: + Value: true + E75: + Value: true + N125: + Value: true + N175: + Value: true + N25: + Value: true + N75: + Value: true + S125: + Value: true + S175: + Value: true + S25: + Value: true + S75: + Value: true + W125: + Value: true + W175: + Value: true + W225: + Value: true + W25: + Value: true + W75: + Value: true + darwin/base_footprint: + Value: true + darwin/base_link: + Value: true + darwin/darwin_accel: + Value: true + darwin/darwin_cam_link: + Value: true + darwin/darwin_cam_optical_link: + Value: true + darwin/darwin_gyro: + Value: true + darwin/darwin_imu_link: + Value: true + darwin/head: + Value: true + darwin/left_arm_high: + Value: true + darwin/left_arm_low: + Value: true + darwin/left_leg_ankle_pitch: + Value: true + darwin/left_leg_ankle_roll: + Value: true + darwin/left_leg_knee: + Value: true + darwin/left_leg_pelvis_pitch: + Value: true + darwin/left_leg_pelvis_roll: + Value: true + darwin/left_leg_pelvis_yaw: + Value: true + darwin/left_shoulder: + Value: true + darwin/neck: + Value: true + darwin/odom: + Value: true + darwin/right_arm_high: + Value: true + darwin/right_arm_low: + Value: true + darwin/right_leg_ankle_pitch: + Value: true + darwin/right_leg_ankle_roll: + Value: true + darwin/right_leg_knee: + Value: true + darwin/right_leg_pelvis_pitch: + Value: true + darwin/right_leg_pelvis_roll: + Value: true + darwin/right_leg_pelvis_yaw: + Value: true + darwin/right_shoulder: + Value: true + obstacle_base_fence_link: + Value: true + obstacle_base_link: + Value: true + Marker Scale: 0.2 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + obstacle_base_link: + E125: + {} + E175: + {} + E225: + {} + E25: + {} + E75: + {} + N125: + {} + N175: + {} + N25: + {} + N75: + {} + S125: + {} + S175: + {} + S25: + {} + S75: + {} + W125: + {} + W175: + {} + W225: + {} + W25: + {} + W75: + {} + darwin/odom: + darwin/base_footprint: + darwin/base_link: + darwin/darwin_accel: + {} + darwin/darwin_gyro: + {} + darwin/darwin_imu_link: + {} + darwin/left_leg_pelvis_yaw: + darwin/left_leg_pelvis_roll: + darwin/left_leg_pelvis_pitch: + darwin/left_leg_knee: + darwin/left_leg_ankle_pitch: + darwin/left_leg_ankle_roll: + {} + darwin/left_shoulder: + darwin/left_arm_high: + darwin/left_arm_low: + {} + darwin/neck: + darwin/head: + darwin/darwin_cam_link: + darwin/darwin_cam_optical_link: + {} + darwin/right_leg_pelvis_yaw: + darwin/right_leg_pelvis_roll: + darwin/right_leg_pelvis_pitch: + darwin/right_leg_knee: + darwin/right_leg_ankle_pitch: + darwin/right_leg_ankle_roll: + {} + darwin/right_shoulder: + darwin/right_arm_high: + darwin/right_arm_low: + {} + obstacle_base_fence_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: Environment + Robot Description: obstacles_environment + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/Image + Enabled: false + Image Topic: /darwin/camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: false + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: local_costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Value: false + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: global_costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.3 + Head Length: 0.2 + Length: 0.3 + Line Style: Lines + Line Width: 0.03 + Name: global_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.03 + Shaft Diameter: 0.1 + Shaft Length: 0.1 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 255 + Enabled: true + Head Diameter: 0.3 + Head Length: 0.2 + Length: 0.3 + Line Style: Lines + Line Width: 0.03 + Name: local_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.03 + Shaft Diameter: 0.1 + Shaft Length: 0.1 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.3 + Head Length: 0.2 + Length: 0.3 + Line Style: Lines + Line Width: 0.03 + Name: local_global_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.03 + Shaft Diameter: 0.1 + Shaft Length: 0.1 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: obstacle_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /darwin/qr_global_loc/initialpose + - Class: rviz/SetGoal + Topic: /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: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.785398 + Target Frame: <Fixed Frame> + Value: Orbit (rviz) + Yaw: 0.785398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 936 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000031e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002190000012d0000001600ffffff000000010000010f0000031efc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000006e0000006400fffffffb0000000a00560069006500770073010000009c000002aa000000b000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000031b000000a30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b70000003efc0100000002fb0000000800540069006d00650100000000000004b7000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002320000031e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1207 + X: 65 + Y: 24