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include diffbot/laserscan in rviz
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‎diffbot_navigation/rviz/diffbot_navigation.rviz

+84-54
Original file line numberDiff line numberDiff line change
@@ -6,22 +6,23 @@ Panels:
66
Expanded:
77
- /TF1/Frames1
88
- /TF1/Tree1
9+
- /LaserScan1
910
- /Global Map1/Costmap1
1011
- /Global Map1/Planner1
1112
- /Local Map1
1213
- /Local Map1/Polygon1
1314
- /Local Map1/Costmap1
1415
- /Local Map1/Planner1
1516
Splitter Ratio: 0.5
16-
Tree Height: 783
17+
Tree Height: 839
1718
- Class: rviz/Selection
1819
Name: Selection
1920
- Class: rviz/Tool Properties
2021
Expanded:
2122
- /2D Pose Estimate1
2223
- /2D Nav Goal1
2324
Name: Tool Properties
24-
Splitter Ratio: 0.588679016
25+
Splitter Ratio: 0.5886790156364441
2526
- Class: rviz/Views
2627
Expanded:
2728
- /Current View1
@@ -32,6 +33,10 @@ Panels:
3233
Name: Time
3334
SyncMode: 0
3435
SyncSource: LaserScan
36+
Preferences:
37+
PromptSaveOnExit: true
38+
Toolbars:
39+
toolButtonStyle: 2
3540
Visualization Manager:
3641
Class: ""
3742
Displays:
@@ -41,7 +46,7 @@ Visualization Manager:
4146
Color: 160; 160; 164
4247
Enabled: true
4348
Line Style:
44-
Line Width: 0.0299999993
49+
Line Width: 0.029999999329447746
4550
Value: Lines
4651
Name: Grid
4752
Normal Cell Count: 0
@@ -72,26 +77,42 @@ Visualization Manager:
7277
Show Axes: false
7378
Show Trail: false
7479
Value: true
75-
base_scan:
80+
front_left_wheel:
7681
Alpha: 1
7782
Show Axes: false
7883
Show Trail: false
7984
Value: true
80-
caster_back_link:
85+
front_right_wheel:
8186
Alpha: 1
8287
Show Axes: false
8388
Show Trail: false
8489
Value: true
85-
imu_link:
90+
left_motor:
8691
Alpha: 1
8792
Show Axes: false
8893
Show Trail: false
89-
wheel_left_link:
94+
Value: true
95+
rear_caster_base_link:
96+
Alpha: 1
97+
Show Axes: false
98+
Show Trail: false
99+
Value: true
100+
rear_caster_rotation_link:
101+
Alpha: 1
102+
Show Axes: false
103+
Show Trail: false
104+
Value: true
105+
rear_caster_wheel_link:
106+
Alpha: 1
107+
Show Axes: false
108+
Show Trail: false
109+
Value: true
110+
right_motor:
90111
Alpha: 1
91112
Show Axes: false
92113
Show Trail: false
93114
Value: true
94-
wheel_right_link:
115+
rplidar_gpu_laser_link:
95116
Alpha: 1
96117
Show Axes: false
97118
Show Trail: false
@@ -107,6 +128,7 @@ Visualization Manager:
107128
Frame Timeout: 15
108129
Frames:
109130
All Enabled: false
131+
Marker Alpha: 1
110132
Marker Scale: 1
111133
Name: TF
112134
Show Arrows: true
@@ -139,9 +161,9 @@ Visualization Manager:
139161
Queue Size: 10
140162
Selectable: true
141163
Size (Pixels): 3
142-
Size (m): 0.0300000012
164+
Size (m): 0.030000001192092896
143165
Style: Flat Squares
144-
Topic: /scan
166+
Topic: /diffbot/scan
145167
Unreliable: false
146168
Use Fixed Frame: true
147169
Use rainbow: true
@@ -158,7 +180,7 @@ Visualization Manager:
158180
Transport Hint: compressed
159181
Unreliable: false
160182
Value: false
161-
- Alpha: 0.699999988
183+
- Alpha: 0.699999988079071
162184
Class: rviz/Map
163185
Color Scheme: map
164186
Draw Behind: false
@@ -173,27 +195,28 @@ Visualization Manager:
173195
Class: rviz/Path
174196
Color: 0; 0; 0
175197
Enabled: true
176-
Head Diameter: 0.300000012
177-
Head Length: 0.200000003
178-
Length: 0.300000012
198+
Head Diameter: 0.30000001192092896
199+
Head Length: 0.20000000298023224
200+
Length: 0.30000001192092896
179201
Line Style: Lines
180-
Line Width: 0.0299999993
202+
Line Width: 0.029999999329447746
181203
Name: Planner Plan
182204
Offset:
183205
X: 0
184206
Y: 0
185207
Z: 0
186208
Pose Color: 255; 85; 255
187209
Pose Style: None
188-
Radius: 0.0299999993
189-
Shaft Diameter: 0.100000001
190-
Shaft Length: 0.100000001
210+
Queue Size: 10
211+
Radius: 0.029999999329447746
212+
Shaft Diameter: 0.10000000149011612
213+
Shaft Length: 0.10000000149011612
191214
Topic: /move_base/NavfnROS/plan
192215
Unreliable: false
193216
Value: true
194217
- Class: rviz/Group
195218
Displays:
196-
- Alpha: 0.699999988
219+
- Alpha: 0.699999988079071
197220
Class: rviz/Map
198221
Color Scheme: costmap
199222
Draw Behind: true
@@ -208,21 +231,22 @@ Visualization Manager:
208231
Class: rviz/Path
209232
Color: 255; 0; 0
210233
Enabled: true
211-
Head Diameter: 0.300000012
212-
Head Length: 0.200000003
213-
Length: 0.300000012
234+
Head Diameter: 0.30000001192092896
235+
Head Length: 0.20000000298023224
236+
Length: 0.30000001192092896
214237
Line Style: Lines
215-
Line Width: 0.0299999993
238+
Line Width: 0.029999999329447746
216239
Name: Planner
217240
Offset:
218241
X: 0
219242
Y: 0
220243
Z: 0
221244
Pose Color: 255; 85; 255
222245
Pose Style: None
223-
Radius: 0.0299999993
224-
Shaft Diameter: 0.100000001
225-
Shaft Length: 0.100000001
246+
Queue Size: 10
247+
Radius: 0.029999999329447746
248+
Shaft Diameter: 0.10000000149011612
249+
Shaft Length: 0.10000000149011612
226250
Topic: /move_base/DWAPlannerROS/global_plan
227251
Unreliable: false
228252
Value: true
@@ -235,10 +259,11 @@ Visualization Manager:
235259
Color: 0; 0; 0
236260
Enabled: true
237261
Name: Polygon
262+
Queue Size: 10
238263
Topic: /move_base/local_costmap/footprint
239264
Unreliable: false
240265
Value: true
241-
- Alpha: 0.699999988
266+
- Alpha: 0.699999988079071
242267
Class: rviz/Map
243268
Color Scheme: costmap
244269
Draw Behind: false
@@ -253,53 +278,56 @@ Visualization Manager:
253278
Class: rviz/Path
254279
Color: 255; 255; 0
255280
Enabled: true
256-
Head Diameter: 0.300000012
257-
Head Length: 0.200000003
258-
Length: 0.300000012
281+
Head Diameter: 0.30000001192092896
282+
Head Length: 0.20000000298023224
283+
Length: 0.30000001192092896
259284
Line Style: Lines
260-
Line Width: 0.0299999993
285+
Line Width: 0.029999999329447746
261286
Name: Planner
262287
Offset:
263288
X: 0
264289
Y: 0
265290
Z: 0
266291
Pose Color: 255; 85; 255
267292
Pose Style: None
268-
Radius: 0.0299999993
269-
Shaft Diameter: 0.100000001
270-
Shaft Length: 0.100000001
293+
Queue Size: 10
294+
Radius: 0.029999999329447746
295+
Shaft Diameter: 0.10000000149011612
296+
Shaft Length: 0.10000000149011612
271297
Topic: /move_base/DWAPlannerROS/local_plan
272298
Unreliable: false
273299
Value: true
274300
Enabled: true
275301
Name: Local Map
276302
- Alpha: 1
277-
Arrow Length: 0.0500000007
278-
Axes Length: 0.300000012
279-
Axes Radius: 0.00999999978
303+
Arrow Length: 0.05000000074505806
304+
Axes Length: 0.30000001192092896
305+
Axes Radius: 0.009999999776482582
280306
Class: rviz/PoseArray
281307
Color: 0; 192; 0
282308
Enabled: true
283-
Head Length: 0.0700000003
284-
Head Radius: 0.0299999993
309+
Head Length: 0.07000000029802322
310+
Head Radius: 0.029999999329447746
285311
Name: Amcl Particles
286-
Shaft Length: 0.230000004
287-
Shaft Radius: 0.00999999978
312+
Queue Size: 10
313+
Shaft Length: 0.23000000417232513
314+
Shaft Radius: 0.009999999776482582
288315
Shape: Arrow (Flat)
289316
Topic: /particlecloud
290317
Unreliable: false
291318
Value: true
292319
- Alpha: 1
293320
Axes Length: 1
294-
Axes Radius: 0.100000001
321+
Axes Radius: 0.10000000149011612
295322
Class: rviz/Pose
296323
Color: 255; 25; 0
297324
Enabled: true
298-
Head Length: 0.300000012
299-
Head Radius: 0.100000001
325+
Head Length: 0.30000001192092896
326+
Head Radius: 0.10000000149011612
300327
Name: Goal
328+
Queue Size: 10
301329
Shaft Length: 0.5
302-
Shaft Radius: 0.0500000007
330+
Shaft Radius: 0.05000000074505806
303331
Shape: Arrow
304332
Topic: /move_base_simple/goal
305333
Unreliable: false
@@ -317,38 +345,40 @@ Visualization Manager:
317345
Hide Inactive Objects: true
318346
- Class: rviz/Select
319347
- Class: rviz/SetInitialPose
348+
Theta std deviation: 0.2617993950843811
320349
Topic: /initialpose
350+
X std deviation: 0.5
351+
Y std deviation: 0.5
321352
- Class: rviz/SetGoal
322353
Topic: /move_base_simple/goal
323354
- Class: rviz/Measure
324355
Value: true
325356
Views:
326357
Current:
327-
Angle: -1.57079637
358+
Angle: -1.5707963705062866
328359
Class: rviz/TopDownOrtho
329360
Enable Stereo Rendering:
330-
Stereo Eye Separation: 0.0599999987
361+
Stereo Eye Separation: 0.05999999865889549
331362
Stereo Focal Distance: 1
332363
Swap Stereo Eyes: false
333364
Value: false
334365
Invert Z Axis: false
335366
Name: Current View
336-
Near Clip Distance: 0.00999999978
367+
Near Clip Distance: 0.009999999776482582
337368
Scale: 100
338369
Target Frame: <Fixed Frame>
339-
Value: TopDownOrtho (rviz)
340370
X: 0
341371
Y: 0
342372
Saved: ~
343373
Window Geometry:
344374
Displays:
345375
collapsed: false
346-
Height: 1027
376+
Height: 1068
347377
Hide Left Dock: false
348378
Hide Right Dock: true
349379
Image:
350380
collapsed: false
351-
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a0fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000003a0000000df00fffffffb0000000a0049006d0061006700650000000317000000cc0000001800fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000022400fffffffb0000000800540069006d006501000000000000045000000000000000000000038f000003a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
381+
QMainWindow State: 000000ff00000000fd00000004000000000000016a000003d2fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000022f000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
352382
Selection:
353383
collapsed: false
354384
Time:
@@ -357,6 +387,6 @@ Window Geometry:
357387
collapsed: false
358388
Views:
359389
collapsed: true
360-
Width: 1279
361-
X: 0
362-
Y: 0
390+
Width: 927
391+
X: 1920
392+
Y: 27

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