updated config and rviz visualization files

config/params.yaml

-rate: 240
+rate: 120
 debug: True
 fixed_frame: map
 base_link_frame: base_link
@@ -7,7 +7,7 @@ err_msg_rate: 0.5
 
 collision_timeout: 4.0
 collision_acc_transition_counter_en: True
-collision_acc_th: 3.0
+collision_acc_th: 4.0
 #collision_acc_th: 2.0
 collision_acc_counter_limit: 12
 collision_ang_vel_transition_counter_en: True

rviz/dogs.rviz

@@ -10,7 +10,7 @@ Panels:
         - /LandmarksRobotPose1/Covariance1
         - /LandmarksRobotPose1/Covariance1/Position1
         - /LandmarksRobotPose1/Covariance1/Orientation1
-        - /Front_icp1/front_after_icp1/Status1
+        - /Rear_icp1/rear_after_icp1
       Splitter Ratio: 0.5
     Tree Height: 728
   - Class: rviz/Selection
@@ -119,7 +119,7 @@ Visualization Manager:
       Color: 239; 41; 41
       Color Transformer: FlatColor
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -134,7 +134,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -147,7 +147,7 @@ Visualization Manager:
       Color: 252; 233; 79
       Color Transformer: FlatColor
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -162,7 +162,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -509,7 +509,7 @@ Visualization Manager:
           Axis: Z
           Channel Name: intensity
           Class: rviz/LaserScan
-          Color: 252; 233; 79
+          Color: 239; 41; 41
           Color Transformer: FlatColor
           Decay Time: 0
           Enabled: true
@@ -627,7 +627,7 @@ Visualization Manager:
           Axis: Z
           Channel Name: intensity
           Class: rviz/LaserScan
-          Color: 173; 127; 168
+          Color: 252; 233; 79
           Color Transformer: FlatColor
           Decay Time: 0
           Enabled: true
@@ -685,11 +685,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 43.86905288696289
+      Scale: 30.226451873779297
       Target Frame: base_link
       Value: TopDownOrtho (rviz)
-      X: 1.2449862957000732
-      Y: -0.583761990070343
+      X: 0.819812536239624
+      Y: 0.7132653594017029
     Saved: ~
 Window Geometry:
   Displays: