diff --git a/rviz/ana.rviz b/rviz/ana.rviz
index 3c0dbdb5af7874b5e8ef7d132e442b6cc56bd920..afa330468ad4363ee0bab5461154907a89967668 100644
--- a/rviz/ana.rviz
+++ b/rviz/ana.rviz
@@ -6,6 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /Sensors1
+ - /Sensors1/Odometry1/Shape1
Splitter Ratio: 0.5
Tree Height: 594
- Class: rviz/Selection
@@ -98,11 +99,19 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
- camera_left_ir_frame:
+ camera_infra1_frame:
Alpha: 1
Show Axes: false
Show Trail: false
- camera_left_ir_optical_frame:
+ camera_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -111,14 +120,47 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- camera_right_ir_frame:
+ camera_pan_tilt_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
- camera_right_ir_optical_frame:
+ camera_pan_tilt_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
+ camera_pan_tilt_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_pan_tilt_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
front_left_axle:
Alpha: 1
Show Axes: false
@@ -163,6 +205,15 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
+ pan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ realsense_support_pan_tilt:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
rear_left_axle:
Alpha: 1
Show Axes: false
@@ -198,6 +249,11 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ tilt_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
top_plate:
Alpha: 1
Show Axes: false
@@ -242,15 +298,35 @@ Visualization Manager:
Value: true
ana/camera_depth_optical_frame:
Value: true
- ana/camera_left_ir_frame:
+ ana/camera_infra1_frame:
+ Value: true
+ ana/camera_infra1_optical_frame:
Value: true
- ana/camera_left_ir_optical_frame:
+ ana/camera_infra2_frame:
+ Value: true
+ ana/camera_infra2_optical_frame:
Value: true
ana/camera_link:
Value: true
- ana/camera_right_ir_frame:
+ ana/camera_pan_tilt_bottom_screw_frame:
+ Value: true
+ ana/camera_pan_tilt_color_frame:
+ Value: true
+ ana/camera_pan_tilt_color_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_depth_frame:
+ Value: true
+ ana/camera_pan_tilt_depth_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_infra1_frame:
Value: true
- ana/camera_right_ir_optical_frame:
+ ana/camera_pan_tilt_infra1_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_infra2_frame:
+ Value: true
+ ana/camera_pan_tilt_infra2_optical_frame:
+ Value: true
+ ana/camera_pan_tilt_link:
Value: true
ana/front_left_axle:
Value: true
@@ -272,6 +348,10 @@ Visualization Manager:
Value: true
ana/odom:
Value: true
+ ana/pan_frame:
+ Value: true
+ ana/realsense_support_pan_tilt:
+ Value: true
ana/rear_left_axle:
Value: true
ana/rear_left_hub:
@@ -286,6 +366,8 @@ Visualization Manager:
Value: true
ana/rear_sonar:
Value: true
+ ana/tilt_frame:
+ Value: true
ana/top_plate:
Value: true
ana/velodyne:
@@ -327,22 +409,38 @@ Visualization Manager:
{}
ana/top_plate:
ana/ana_box:
- {}
+ ana/pan_frame:
+ ana/tilt_frame:
+ ana/realsense_support_pan_tilt:
+ ana/camera_pan_tilt_bottom_screw_frame:
+ ana/camera_pan_tilt_link:
+ ana/camera_pan_tilt_color_frame:
+ ana/camera_pan_tilt_color_optical_frame:
+ {}
+ ana/camera_pan_tilt_depth_frame:
+ ana/camera_pan_tilt_depth_optical_frame:
+ {}
+ ana/camera_pan_tilt_infra1_frame:
+ ana/camera_pan_tilt_infra1_optical_frame:
+ {}
+ ana/camera_pan_tilt_infra2_frame:
+ ana/camera_pan_tilt_infra2_optical_frame:
+ {}
ana/ana_realsense_support:
ana/camera_bottom_screw_frame:
ana/camera_link:
+ ana/camera_color_frame:
+ ana/camera_color_optical_frame:
+ {}
ana/camera_depth_frame:
- ana/camera_color_frame:
- ana/camera_color_optical_frame:
- {}
ana/camera_depth_optical_frame:
{}
- ana/camera_left_ir_frame:
- ana/camera_left_ir_optical_frame:
- {}
- ana/camera_right_ir_frame:
- ana/camera_right_ir_optical_frame:
- {}
+ ana/camera_infra1_frame:
+ ana/camera_infra1_optical_frame:
+ {}
+ ana/camera_infra2_frame:
+ ana/camera_infra2_optical_frame:
+ {}
ana/velodyne_base:
ana/velodyne:
{}
@@ -356,8 +454,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 1.46991944
- Min Value: -0.123292208
+ Max Value: 15.7542963
+ Min Value: -0.0119036436
Value: true
Axis: Z
Channel Name: intensity
@@ -409,8 +507,8 @@ Visualization Manager:
Grid: true
RobotModel: false
Sensors:
- Camera: true
Imu: false
+ Odometry: true
Value: true
Velodyne: true
realsense_color: true
@@ -448,15 +546,49 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
+ - Angle Tolerance: 0.5
+ 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: 0.300000012
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.5
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Color: 255; 25; 0
+ Head Length: 0.150000006
+ Head Radius: 0.0500000007
+ Shaft Length: 0.5
+ Shaft Radius: 0.0250000004
+ Value: Arrow
+ Topic: /ana/odom
+ Unreliable: false
+ Value: true
- Alpha: 0.5
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
- Enabled: true
+ Enabled: false
History Length: 1
Name: Imu
Topic: /ana/sensors/imu
Unreliable: false
- Value: true
+ Value: false
Enabled: true
Name: Sensors
Enabled: true