From 941b511ed38e302d8364360276bbefa007a75970 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Wed, 20 Apr 2022 16:59:03 +0200
Subject: [PATCH] Updated rvid visualization
---
rviz/dogs.rviz | 68 ++++++++++++++++++++++++++++++++++----------------
1 file changed, 46 insertions(+), 22 deletions(-)
diff --git a/rviz/dogs.rviz b/rviz/dogs.rviz
index 9d001a4..105a51d 100644
--- a/rviz/dogs.rviz
+++ b/rviz/dogs.rviz
@@ -25,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: ""
+ SyncSource: RearLaser
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -38,13 +38,33 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
+ base_laser_front_link:
+ Value: true
+ base_laser_rear_link:
+ Value: true
+ base_link:
+ Value: true
+ imu_bno055:
+ Value: true
+ map:
+ Value: true
+ odom:
+ Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
- {}
+ map:
+ odom:
+ base_link:
+ base_laser_front_link:
+ {}
+ base_laser_rear_link:
+ {}
+ imu_bno055:
+ {}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
@@ -272,7 +292,7 @@ Visualization Manager:
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
- Enabled: true
+ Enabled: false
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
@@ -281,7 +301,7 @@ Visualization Manager:
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
- Value: true
+ Value: false
- Alpha: 0.5
Axes Length: 1
Axes Radius: 0.10000000149011612
@@ -351,7 +371,8 @@ Visualization Manager:
Marker Topic: /iri_landmarks_tracker/local_features
Name: Features
Namespaces:
- {}
+ front_local_features: true
+ rear_local_features: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
@@ -359,7 +380,7 @@ Visualization Manager:
Marker Topic: /iri_landmarks_tracker/global_features
Name: landmarks
Namespaces:
- {}
+ global_landmarks: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
@@ -367,7 +388,8 @@ Visualization Manager:
Marker Topic: /iri_landmarks_tracker/frame_data
Name: Frames
Namespaces:
- {}
+ landmark_connection: true
+ odom_marker: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
@@ -375,7 +397,9 @@ Visualization Manager:
Marker Topic: /iri_localization_fusion/fusion_traj_vis
Name: Trajectories
Namespaces:
- {}
+ amcl_traj: true
+ fused_traj: true
+ landmarks_traj: true
Queue Size: 100
Value: true
Enabled: true
@@ -391,21 +415,21 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
- Color: 52; 101; 164
+ Color: 252; 233; 79
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
- Name: front_icp_last_scan
+ Name: front_icp_ref_scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
- Topic: /iri_collision_manager/debug_front_icp_last_scan
+ Topic: /iri_collision_manager/debug_front_icp_ref_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -419,21 +443,21 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
- Color: 252; 233; 79
+ Color: 52; 101; 164
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
- Name: front_icp_ref_scan
+ Name: front_icp_last_scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
- Topic: /iri_collision_manager/debug_front_icp_ref_scan
+ Topic: /iri_collision_manager/debug_front_icp_last_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -509,21 +533,21 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
- Color: 32; 74; 135
+ Color: 252; 233; 79
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
- Name: rear_icp_last_scan
+ Name: rear_icp_ref_scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
- Topic: /iri_collision_manager/debug_rear_icp_last_scan
+ Topic: /iri_collision_manager/debug_rear_icp_ref_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -537,21 +561,21 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
- Color: 252; 233; 79
+ Color: 32; 74; 135
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
- Name: rear_icp_ref_scan
+ Name: rear_icp_last_scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
- Topic: /iri_collision_manager/debug_rear_icp_ref_scan
+ Topic: /iri_collision_manager/debug_rear_icp_last_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -656,8 +680,8 @@ Visualization Manager:
Scale: 37.43423080444336
Target Frame: base_link
Value: TopDownOrtho (rviz)
- X: 0.2790600657463074
- Y: -1.8997174501419067
+ X: 9.228086471557617
+ Y: -4.303939342498779
Saved: ~
Window Geometry:
Displays:
--
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