From baf3a62cbe4b66bcf240d17495dd6d82c4b5285d Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 15 Jan 2020 15:34:40 +0100
Subject: [PATCH] Added the frame_id as a parameter in the YAML configuration
file.
---
config/rs16_lidar_default_config.yaml | 1 +
rviz/robosense.rviz | 14 +++++++-------
2 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/config/rs16_lidar_default_config.yaml b/config/rs16_lidar_default_config.yaml
index 481e857..7d90802 100644
--- a/config/rs16_lidar_default_config.yaml
+++ b/config/rs16_lidar_default_config.yaml
@@ -4,6 +4,7 @@ device_ip: 192.168.1.200
msop_port: 6699
difop_port: 7788
cut_angle: 0
+frame_id: robosense
##robosense pointcloud
max_distance: 200
diff --git a/rviz/robosense.rviz b/rviz/robosense.rviz
index 5c340e7..ef2b00d 100644
--- a/rviz/robosense.rviz
+++ b/rviz/robosense.rviz
@@ -29,7 +29,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: ""
+ SyncSource: PointCloud2
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@@ -90,11 +90,11 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
+ Value: true
robosense_base:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
rslidar_base_parent:
Alpha: 1
Show Axes: false
@@ -121,9 +121,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 239
+ Max Intensity: 255
Min Color: 0; 0; 0
- Min Intensity: 1
+ Min Intensity: 0.465879768
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
@@ -140,7 +140,7 @@ Visualization Manager:
Global Options:
Background Color: 48; 48; 48
Default Light: true
- Fixed Frame: robosense_base
+ Fixed Frame: rslidar_base_parent
Frame Rate: 30
Name: root
Tools:
@@ -176,10 +176,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
- Pitch: 0.300398469
+ Pitch: 0.140398428
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 0.505398631
+ Yaw: 6.23358297
Saved: ~
Window Geometry:
Displays:
--
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