Updated rviz config

rviz/dogs.rviz

@@ -4,12 +4,7 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
         - /Status1
-        - /TF1
-        - /LandmarksRobotPose1/Covariance1
-        - /LandmarksRobotPose1/Covariance1/Position1
-        - /LandmarksRobotPose1/Covariance1/Orientation1
       Splitter Ratio: 0.6882352828979492
     Tree Height: 728
   - Class: rviz/Selection
@@ -30,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: FrontLaser
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -43,39 +38,13 @@ 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
-        new_front_laser:
-          Value: true
-        new_rear_laser:
-          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:
-                new_front_laser:
-                  {}
-              base_laser_rear_link:
-                new_rear_laser:
-                  {}
-              imu_bno055:
-                {}
+        {}
       Update Interval: 0
       Value: true
     - Alpha: 0.699999988079071
@@ -107,116 +76,13 @@ Visualization Manager:
       Reference Frame: <Fixed Frame>
       Value: true
     - 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: 239; 41; 41
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: FrontLaser
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /laser_front/scan
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 0
-        Min Value: 0
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      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: RearLaser
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /laser_rear/scan
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - 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: 115; 210; 22
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: GlobalScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 4
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /scan_global
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: FlatColor
-      Decay Time: 0
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
       Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: GlobalScanPCL
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /gobal_cloud
+      History Length: 1
+      Name: Imu
+      Topic: /bno055_imu/imu
       Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
       Value: false
     - Angle Tolerance: 0.10000000149011612
       Class: rviz/Odometry
@@ -252,165 +118,268 @@ Visualization Manager:
       Topic: /odom
       Unreliable: false
       Value: false
-    - Alpha: 0.5
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/PoseWithCovariance
-      Color: 252; 233; 79
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
+    - Class: rviz/Group
+      Displays:
+        - 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: 239; 41; 41
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: FrontLaser
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /laser_front/scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
           Value: true
-        Position:
-          Alpha: 0.30000001192092896
-          Color: 204; 51; 204
-          Scale: 1
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0
+            Min Value: 0
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          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: RearLaser
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /laser_rear/scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
           Value: true
-        Value: true
-      Enabled: false
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: amclPose
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /amcl_pose
-      Unreliable: false
-      Value: false
-    - Alpha: 1
-      Arrow Length: 0.30000001192092896
-      Axes Length: 0.30000001192092896
-      Axes Radius: 0.009999999776482582
-      Class: rviz/PoseArray
-      Color: 255; 25; 0
-      Enabled: false
-      Head Length: 0.07000000029802322
-      Head Radius: 0.029999999329447746
-      Name: PoseArray
-      Shaft Length: 0.23000000417232513
-      Shaft Radius: 0.009999999776482582
-      Shape: Arrow (Flat)
-      Topic: /particlecloud
-      Unreliable: false
-      Value: false
-    - Class: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: /rviz_markers
-      Name: MarkerArray
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: true
-    - Class: rviz/MarkerArray
-      Enabled: true
-      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
+        - 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: 115; 210; 22
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: GlobalScan
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 4
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /scan_global
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: GlobalScanPCL
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /gobal_cloud
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
       Enabled: true
-      Marker Topic: /iri_landmarks_tracker/global_features
-      Name: landmarks
-      Namespaces:
-        global_landmarks: true
-      Queue Size: 100
-      Value: true
-    - Class: rviz/MarkerArray
+      Name: LaserInput
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.5
+          Axes Length: 1
+          Axes Radius: 0.10000000149011612
+          Class: rviz/PoseWithCovariance
+          Color: 252; 233; 79
+          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: true
+          Enabled: true
+          Head Length: 0.30000001192092896
+          Head Radius: 0.10000000149011612
+          Name: amclPose
+          Shaft Length: 1
+          Shaft Radius: 0.05000000074505806
+          Shape: Arrow
+          Topic: /amcl_pose
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Arrow Length: 0.30000001192092896
+          Axes Length: 0.30000001192092896
+          Axes Radius: 0.009999999776482582
+          Class: rviz/PoseArray
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.07000000029802322
+          Head Radius: 0.029999999329447746
+          Name: PoseArray
+          Shaft Length: 0.23000000417232513
+          Shaft Radius: 0.009999999776482582
+          Shape: Arrow (Flat)
+          Topic: /particlecloud
+          Unreliable: false
+          Value: true
+        - Alpha: 0.5
+          Axes Length: 1
+          Axes Radius: 0.10000000149011612
+          Class: rviz/PoseWithCovariance
+          Color: 255; 25; 0
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.5
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Head Length: 0.30000001192092896
+          Head Radius: 0.10000000149011612
+          Name: LandmarksRobotPose
+          Shaft Length: 1
+          Shaft Radius: 0.05000000074505806
+          Shape: Arrow
+          Topic: /iri_landmarks_tracker/landmarks_localization_pose
+          Unreliable: false
+          Value: true
+        - Alpha: 0.5
+          Axes Length: 1
+          Axes Radius: 0.10000000149011612
+          Class: rviz/PoseWithCovariance
+          Color: 78; 154; 6
+          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: true
+          Enabled: true
+          Head Length: 0.30000001192092896
+          Head Radius: 0.10000000149011612
+          Name: FusedPose
+          Shaft Length: 1
+          Shaft Radius: 0.05000000074505806
+          Shape: Arrow
+          Topic: /iri_localization_fusion/fused_pose
+          Unreliable: false
+          Value: true
       Enabled: true
-      Marker Topic: /iri_landmarks_tracker/frame_data
-      Name: Frames
-      Namespaces:
-        landmark_connection: true
-        odom_marker: true
-      Queue Size: 100
-      Value: true
-    - Alpha: 0.5
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/PoseWithCovariance
-      Color: 255; 25; 0
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
+      Name: Poses
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /iri_landmarks_tracker/local_features
+          Name: Features
+          Namespaces:
+            {}
+          Queue Size: 100
           Value: true
-        Position:
-          Alpha: 0.5
-          Color: 204; 51; 204
-          Scale: 1
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /iri_landmarks_tracker/global_features
+          Name: landmarks
+          Namespaces:
+            {}
+          Queue Size: 100
           Value: true
-        Value: true
-      Enabled: false
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: LandmarksRobotPose
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /iri_landmarks_tracker/landmarks_localization_pose
-      Unreliable: false
-      Value: false
-    - Alpha: 0.5
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/PoseWithCovariance
-      Color: 78; 154; 6
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /iri_landmarks_tracker/frame_data
+          Name: Frames
+          Namespaces:
+            {}
+          Queue Size: 100
           Value: true
-        Position:
-          Alpha: 0.30000001192092896
-          Color: 204; 51; 204
-          Scale: 1
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /iri_localization_fusion/fusion_traj_vis
+          Name: Trajectories
+          Namespaces:
+            {}
+          Queue Size: 100
           Value: true
-        Value: true
-      Enabled: false
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: FusedPose
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /iri_localization_fusion/fused_pose
-      Unreliable: false
-      Value: false
-    - Class: rviz/MarkerArray
       Enabled: true
-      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
-    - Alpha: 1
-      Class: rviz_plugin_tutorials/Imu
-      Color: 204; 51; 204
-      Enabled: false
-      History Length: 1
-      Name: Imu
-      Topic: /bno055_imu/imu
-      Unreliable: false
-      Value: false
+      Name: Landmarks
     - Class: rviz/Group
       Displays:
         - Alpha: 1
@@ -684,11 +653,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 21.86640739440918
+      Scale: 37.43423080444336
       Target Frame: base_link
       Value: TopDownOrtho (rviz)
-      X: -3.3158531188964844
-      Y: 3.8758318424224854
+      X: 0.2790600657463074
+      Y: -1.8997174501419067
     Saved: ~
 Window Geometry:
   Displays: