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Commit defc2a10 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated rviz config

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rviz/dogs.rviz
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View file @ defc2a10
...@@ -4,12 +4,7 @@ Panels: ...@@ -4,12 +4,7 @@ Panels:
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /Global Options1
- /Status1 - /Status1
- /TF1
- /LandmarksRobotPose1/Covariance1
- /LandmarksRobotPose1/Covariance1/Position1
- /LandmarksRobotPose1/Covariance1/Orientation1
Splitter Ratio: 0.6882352828979492 Splitter Ratio: 0.6882352828979492
Tree Height: 728 Tree Height: 728
- Class: rviz/Selection - Class: rviz/Selection
...@@ -30,7 +25,7 @@ Panels: ...@@ -30,7 +25,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: FrontLaser SyncSource: ""
Preferences: Preferences:
PromptSaveOnExit: true PromptSaveOnExit: true
Toolbars: Toolbars:
...@@ -43,39 +38,13 @@ Visualization Manager: ...@@ -43,39 +38,13 @@ Visualization Manager:
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true 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 Marker Scale: 1
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
Show Names: true Show Names: true
Tree: Tree:
map: {}
odom:
base_link:
base_laser_front_link:
new_front_laser:
{}
base_laser_rear_link:
new_rear_laser:
{}
imu_bno055:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
- Alpha: 0.699999988079071 - Alpha: 0.699999988079071
...@@ -107,116 +76,13 @@ Visualization Manager: ...@@ -107,116 +76,13 @@ Visualization Manager:
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Class: rviz_plugin_tutorials/Imu
Autocompute Value Bounds: Color: 204; 51; 204
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
Enabled: false Enabled: false
Invert Rainbow: false History Length: 1
Max Color: 255; 255; 255 Name: Imu
Min Color: 0; 0; 0 Topic: /bno055_imu/imu
Name: GlobalScanPCL
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /gobal_cloud
Unreliable: false Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false Value: false
- Angle Tolerance: 0.10000000149011612 - Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry Class: rviz/Odometry
...@@ -252,165 +118,268 @@ Visualization Manager: ...@@ -252,165 +118,268 @@ Visualization Manager:
Topic: /odom Topic: /odom
Unreliable: false Unreliable: false
Value: false Value: false
- Alpha: 0.5 - Class: rviz/Group
Axes Length: 1 Displays:
Axes Radius: 0.10000000149011612 - Alpha: 1
Class: rviz/PoseWithCovariance Autocompute Intensity Bounds: true
Color: 252; 233; 79 Autocompute Value Bounds:
Covariance: Max Value: 10
Orientation: Min Value: -10
Alpha: 0.5 Value: true
Color: 255; 255; 127 Axis: Z
Color Style: Unique Channel Name: intensity
Frame: Local Class: rviz/LaserScan
Offset: 1 Color: 239; 41; 41
Scale: 1 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 Value: true
Position: - Alpha: 1
Alpha: 0.30000001192092896 Autocompute Intensity Bounds: true
Color: 204; 51; 204 Autocompute Value Bounds:
Scale: 1 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
Value: true - Alpha: 1
Enabled: false Autocompute Intensity Bounds: true
Head Length: 0.30000001192092896 Autocompute Value Bounds:
Head Radius: 0.10000000149011612 Max Value: 10
Name: amclPose Min Value: -10
Shaft Length: 1 Value: true
Shaft Radius: 0.05000000074505806 Axis: Z
Shape: Arrow Channel Name: intensity
Topic: /amcl_pose Class: rviz/LaserScan
Unreliable: false Color: 115; 210; 22
Value: false Color Transformer: FlatColor
- Alpha: 1 Decay Time: 0
Arrow Length: 0.30000001192092896 Enabled: false
Axes Length: 0.30000001192092896 Invert Rainbow: false
Axes Radius: 0.009999999776482582 Max Color: 255; 255; 255
Class: rviz/PoseArray Min Color: 0; 0; 0
Color: 255; 25; 0 Name: GlobalScan
Enabled: false Position Transformer: XYZ
Head Length: 0.07000000029802322 Queue Size: 10
Head Radius: 0.029999999329447746 Selectable: true
Name: PoseArray Size (Pixels): 4
Shaft Length: 0.23000000417232513 Size (m): 0.009999999776482582
Shaft Radius: 0.009999999776482582 Style: Points
Shape: Arrow (Flat) Topic: /scan_global
Topic: /particlecloud Unreliable: false
Unreliable: false Use Fixed Frame: true
Value: false Use rainbow: true
- Class: rviz/MarkerArray Value: false
Enabled: true - Alpha: 1
Marker Topic: /rviz_markers Autocompute Intensity Bounds: true
Name: MarkerArray Autocompute Value Bounds:
Namespaces: Max Value: 10
{} Min Value: -10
Queue Size: 100 Value: true
Value: true Axis: Z
- Class: rviz/MarkerArray Channel Name: intensity
Enabled: true Class: rviz/PointCloud2
Marker Topic: /iri_landmarks_tracker/local_features Color: 255; 255; 255
Name: Features Color Transformer: FlatColor
Namespaces: Decay Time: 0
front_local_features: true Enabled: false
rear_local_features: true Invert Rainbow: false
Queue Size: 100 Max Color: 255; 255; 255
Value: true Min Color: 0; 0; 0
- Class: rviz/MarkerArray 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 Enabled: true
Marker Topic: /iri_landmarks_tracker/global_features Name: LaserInput
Name: landmarks - Class: rviz/Group
Namespaces: Displays:
global_landmarks: true - Alpha: 0.5
Queue Size: 100 Axes Length: 1
Value: true Axes Radius: 0.10000000149011612
- Class: rviz/MarkerArray 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 Enabled: true
Marker Topic: /iri_landmarks_tracker/frame_data Name: Poses
Name: Frames - Class: rviz/Group
Namespaces: Displays:
landmark_connection: true - Class: rviz/MarkerArray
odom_marker: true Enabled: true
Queue Size: 100 Marker Topic: /iri_landmarks_tracker/local_features
Value: true Name: Features
- Alpha: 0.5 Namespaces:
Axes Length: 1 {}
Axes Radius: 0.10000000149011612 Queue Size: 100
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 Value: true
Position: - Class: rviz/MarkerArray
Alpha: 0.5 Enabled: true
Color: 204; 51; 204 Marker Topic: /iri_landmarks_tracker/global_features
Scale: 1 Name: landmarks
Namespaces:
{}
Queue Size: 100
Value: true Value: true
Value: true - Class: rviz/MarkerArray
Enabled: false Enabled: true
Head Length: 0.30000001192092896 Marker Topic: /iri_landmarks_tracker/frame_data
Head Radius: 0.10000000149011612 Name: Frames
Name: LandmarksRobotPose Namespaces:
Shaft Length: 1 {}
Shaft Radius: 0.05000000074505806 Queue Size: 100
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
Value: true Value: true
Position: - Class: rviz/MarkerArray
Alpha: 0.30000001192092896 Enabled: true
Color: 204; 51; 204 Marker Topic: /iri_localization_fusion/fusion_traj_vis
Scale: 1 Name: Trajectories
Namespaces:
{}
Queue Size: 100
Value: true 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 Enabled: true
Marker Topic: /iri_localization_fusion/fusion_traj_vis Name: Landmarks
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
- Class: rviz/Group - Class: rviz/Group
Displays: Displays:
- Alpha: 1 - Alpha: 1
...@@ -684,11 +653,11 @@ Visualization Manager: ...@@ -684,11 +653,11 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Scale: 21.86640739440918 Scale: 37.43423080444336
Target Frame: base_link Target Frame: base_link
Value: TopDownOrtho (rviz) Value: TopDownOrtho (rviz)
X: -3.3158531188964844 X: 0.2790600657463074
Y: 3.8758318424224854 Y: -1.8997174501419067
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
......
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