/
stretch_mapping.rviz
514 lines (514 loc) · 14 KB
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stretch_mapping.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Head Imu1/Box properties1
- /Head Imu1/Axes properties1
- /Head Imu1/Acceleration properties1
Splitter Ratio: 0.5
Tree Height: 728
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_aruco_inner_wrist:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_aruco_left_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_aruco_right_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_aruco_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_aruco_top_wrist:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_dry_erase_holder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_dry_erase_marker:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_dry_erase_tip:
Alpha: 1
Show Axes: false
Show Trail: false
link_head:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head_pan:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head_tilt:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_lift:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_mast:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_wrist_yaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
respeaker_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.1299999952316284
Min Value: -0.017480315640568733
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /funmap/point_cloud2
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: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 47
Min Color: 0; 0; 0
Min Intensity: 47
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: false
Head Length: 0.05000000074505806
Head Radius: 0.05000000074505806
Name: Pose
Shaft Length: 0.20000000298023224
Shaft Radius: 0.02500000037252903
Shape: Arrow
Topic: /sound_localization
Unreliable: false
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /funmap/navigation_plan_markers
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: false
Marker Topic: /funmap/voi_marker
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/Marker
Enabled: false
Marker Topic: /frustum_marker/depth_camera
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/Marker
Enabled: false
Marker Topic: /frustum_marker/color_camera
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 0.20000000298023224
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: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.004000000189989805
Style: Flat Squares
Topic: /camera/depth/color/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Acceleration properties:
Acc. vector alpha: 1
Acc. vector color: 0; 255; 0
Acc. vector scale: 0.019999999552965164
Derotate acceleration: false
Enable acceleration: true
Axes properties:
Axes scale: 1
Enable axes: false
Box properties:
Box alpha: 1
Box color: 255; 0; 0
Enable box: false
x_scale: 1
y_scale: 1
z_scale: 1
Class: rviz_imu_plugin/Imu
Enabled: false
Name: Head Imu
Topic: /camera/accel/sample_corrected
Unreliable: false
Value: false
fixed_frame_orientation: false
- Acceleration properties:
Acc. vector alpha: 1
Acc. vector color: 255; 0; 0
Acc. vector scale: 1
Derotate acceleration: true
Enable acceleration: false
Axes properties:
Axes scale: 1
Enable axes: true
Box properties:
Box alpha: 1
Box color: 255; 0; 0
Enable box: false
x_scale: 1
y_scale: 1
z_scale: 1
Class: rviz_imu_plugin/Imu
Enabled: false
Name: Imu
Topic: /imu/data
Unreliable: false
Value: false
fixed_frame_orientation: true
- Angle Tolerance: 0.009999999776482582
Class: rviz/Odometry
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: false
Enabled: false
Keep: 1
Name: Odometry
Position Tolerance: 0.009999999776482582
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /odometry/filtered
Unreliable: false
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.7524969577789307
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.03590206056833267
Y: 0.04569293558597565
Z: 0.6913678646087646
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5947966575622559
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.266298294067383
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001c200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005750000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1853
X: 67
Y: 27