ar_detector.rviz 20.5 KB
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Panels:
  - Class: rviz/Displays
    Help Height: 80
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Models1
        - /Sensors1
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        - /Sensors1/Odometry1
        - /Sensors1/Odometry1/GroundTruth1/Shape1
        - /Sensors1/Odometry1/FusedOdometry1/Shape1
        - /Sensors1/Odometry1/Odometry1/Shape1
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      Splitter Ratio: 0.6352941393852234
    Tree Height: 794
  - 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: LaserScan
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: 200
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/Group
      Displays:
        - 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
            body:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_camera_uvc_camera_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_camera_uvc_camera_optical:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            front_left_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_lidar_rplidar_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_lidar_rplidar_scan_frame:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            front_right_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            imu_mpu9250:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            imu_mpu9250_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_camera_uvc_camera_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_camera_uvc_camera_optical:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_center_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_center_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_left_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_left_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_left_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_right_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_right_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_right_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            side_left_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            side_left_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            side_right_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            side_right_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            steer_left:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            steer_right:
              Alpha: 1
              Show Axes: false
              Show Trail: false
          Name: RobotModel
          Robot Description: adc_car/robot_description
          TF Prefix: adc_car
          Update Interval: 0
          Value: true
          Visual Enabled: true
        - Class: rviz/TF
          Enabled: true
          Frame Timeout: 15
          Frames:
            All Enabled: true
            adc_car/base_footprint:
              Value: true
            adc_car/base_link:
              Value: true
            adc_car/body:
              Value: true
            adc_car/front_camera_uvc_camera_base:
              Value: true
            adc_car/front_camera_uvc_camera_optical:
              Value: true
            adc_car/front_left_wheel:
              Value: true
            adc_car/front_lidar_rplidar_base:
              Value: true
            adc_car/front_lidar_rplidar_scan_frame:
              Value: true
            adc_car/front_right_wheel:
              Value: true
            adc_car/imu_mpu9250:
              Value: true
            adc_car/imu_mpu9250_base:
              Value: true
            adc_car/odom:
              Value: true
            adc_car/rear_camera_uvc_camera_base:
              Value: true
            adc_car/rear_camera_uvc_camera_optical:
              Value: true
            adc_car/rear_center_base:
              Value: true
            adc_car/rear_center_ranger1d:
              Value: true
            adc_car/rear_left_base:
              Value: true
            adc_car/rear_left_ranger1d:
              Value: true
            adc_car/rear_left_wheel:
              Value: true
            adc_car/rear_right_base:
              Value: true
            adc_car/rear_right_ranger1d:
              Value: true
            adc_car/rear_right_wheel:
              Value: true
            adc_car/side_left_base:
              Value: true
            adc_car/side_left_ranger1d:
              Value: true
            adc_car/side_right_base:
              Value: true
            adc_car/side_right_ranger1d:
              Value: true
            adc_car/steer_left:
              Value: true
            adc_car/steer_right:
              Value: true
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            ar_marker_0:
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              Value: true
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            ar_marker_144:
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              Value: true
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            ar_marker_176:
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              Value: true
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            ar_marker_2:
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              Value: true
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            ar_marker_9:
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              Value: true
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            ar_marker_96:
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              Value: true
          Marker Scale: 0.25
          Name: TF
          Show Arrows: true
          Show Axes: true
          Show Names: true
          Tree:
            adc_car/odom:
              adc_car/base_footprint:
                adc_car/base_link:
                  adc_car/body:
                    {}
                  adc_car/front_camera_uvc_camera_base:
                    adc_car/front_camera_uvc_camera_optical:
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                      ar_marker_0:
                        {}
                      ar_marker_144:
                        {}
                      ar_marker_176:
                        {}
                      ar_marker_2:
                        {}
                      ar_marker_9:
                        {}
                      ar_marker_96:
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                        {}
                  adc_car/front_lidar_rplidar_base:
                    adc_car/front_lidar_rplidar_scan_frame:
                      {}
                  adc_car/imu_mpu9250_base:
                    adc_car/imu_mpu9250:
                      {}
                  adc_car/rear_camera_uvc_camera_base:
                    adc_car/rear_camera_uvc_camera_optical:
                      {}
                  adc_car/rear_center_base:
                    adc_car/rear_center_ranger1d:
                      {}
                  adc_car/rear_left_base:
                    adc_car/rear_left_ranger1d:
                      {}
                  adc_car/rear_left_wheel:
                    {}
                  adc_car/rear_right_base:
                    adc_car/rear_right_ranger1d:
                      {}
                  adc_car/rear_right_wheel:
                    {}
                  adc_car/side_left_base:
                    adc_car/side_left_ranger1d:
                      {}
                  adc_car/side_right_base:
                    adc_car/side_right_ranger1d:
                      {}
                  adc_car/steer_left:
                    adc_car/front_left_wheel:
                      {}
                  adc_car/steer_right:
                    adc_car/front_right_wheel:
                      {}
          Update Interval: 0
          Value: true
      Enabled: true
      Name: Models
    - Class: rviz/Group
      Displays:
        - Class: rviz/Group
          Displays:
            - Angle Tolerance: 0.25
              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: 1000
              Name: GroundTruth
              Position Tolerance: 0.25
              Shape:
                Alpha: 1
                Axes Length: 1
                Axes Radius: 0.10000000149011612
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                Color: 114; 159; 207
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                Head Length: 0.07000000029802322
                Head Radius: 0.02500000037252903
                Shaft Length: 0.25
                Shaft Radius: 0.009999999776482582
                Value: Arrow
              Topic: /adc_car/odom_ground_truth
              Unreliable: false
              Value: true
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            - Angle Tolerance: 0.25
              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: 1000
              Name: FusedOdometry
              Position Tolerance: 0.25
              Shape:
                Alpha: 1
                Axes Length: 1
                Axes Radius: 0.10000000149011612
                Color: 252; 233; 79
                Head Length: 0.07000000029802322
                Head Radius: 0.02500000037252903
                Shaft Length: 0.25
                Shaft Radius: 0.009999999776482582
                Value: Arrow
              Topic: /adc_car/local_odom_combined
              Unreliable: false
              Value: true
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            - Angle Tolerance: 0.25
              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: 1000
              Name: Odometry
              Position Tolerance: 0.25
              Shape:
                Alpha: 1
                Axes Length: 1
                Axes Radius: 0.10000000149011612
                Color: 255; 25; 0
                Head Length: 0.07000000029802322
                Head Radius: 0.02500000037252903
                Shaft Length: 0.25
                Shaft Radius: 0.009999999776482582
                Value: Arrow
              Topic: /adc_car/odom
              Unreliable: false
              Value: true
          Enabled: true
          Name: Odometry
        - Class: rviz/Group
          Displays:
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: RearCenterRange
              Queue Size: 100
              Topic: /adc_car/sensors/range/rear_center_sonar
              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: RearLeftRange
              Queue Size: 100
              Topic: /adc_car/sensors/range/rear_left_sonar
              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: RearRightRange
              Queue Size: 100
              Topic: /adc_car/sensors/range/rear_right_sonar
              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: SideLeftRange
              Queue Size: 100
              Topic: /adc_car/sensors/range/side_left_sonar
              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: SideRightRange
              Queue Size: 100
              Topic: /adc_car/sensors/range/side_right_sonar
              Unreliable: false
              Value: true
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          Enabled: false
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          Name: Sonar
        - 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: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
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          Max Intensity: 47
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          Min Color: 0; 0; 0
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          Min Intensity: 47
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          Name: LaserScan
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /adc_car/sensors/scan
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 0.25
          Class: rviz_plugin_tutorials/Imu
          Color: 204; 51; 204
          Enabled: false
          History Length: 2
          Name: Imu
          Topic: /adc_car/sensors/imu_data
          Unreliable: false
          Value: false
        - Class: rviz/Image
          Enabled: true
          Image Topic: /adc_car/sensors/basler_camera/image_raw
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: FrontImage
          Normalize Range: true
          Queue Size: 2
          Transport Hint: raw
          Unreliable: false
          Value: true
        - Class: rviz/Image
          Enabled: true
          Image Topic: /adc_car/sensors/delock_camera/image_raw
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: RearImage
          Normalize Range: true
          Queue Size: 2
          Transport Hint: raw
          Unreliable: false
          Value: true
      Enabled: true
      Name: Sensors
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /visualization_marker
      Name: AR_marker
      Namespaces:
        basic_shapes: true
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: adc_car/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: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
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      Distance: 3.592405319213867
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      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.04447446018457413
        Y: -0.21692512929439545
        Z: 0.6068164110183716
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.43039819598197937
      Target Frame: adc_car/base_link
      Value: Orbit (rviz)
      Yaw: 3.1203980445861816
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  FrontImage:
    collapsed: false
  Height: 1025
  Hide Left Dock: false
  Hide Right Dock: false
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  Selection:
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  Time:
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  Views:
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  Width: 1853
  X: 67
  Y: 27