Updated rvid visualization

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: