646 lines
20 KiB
YAML
646 lines
20 KiB
YAML
Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Image1/Topic1
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- /cloudslam_reprojected1
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- /Odometry1/Odometry1
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- /Odometry1/Odometry1/Shape1
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- /slam1
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- /dense_depth_demo1
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- /Prediction1
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- /Prediction1/Path1
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- /Prediction1/Marker1
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- /Planning1
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- /Planning1/GridMap1
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- /Planning1/path1
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Splitter Ratio: 0.5
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Tree Height: 892
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: false
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: false
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/image
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Value: false
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image_undistort
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/image/undistorted
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Value: false
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: cloudslam_reprojected
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/reprojected_image
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 239
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: raw
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/cloud_raw
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 1.8730175495147705
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Min Value: -0.12252448499202728
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.3509885615147286e-38
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: render
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/cloud_render
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Class: rviz_common/Group
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Displays:
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- Angle Tolerance: 0.10000000149011612
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Class: rviz_default_plugins/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.30000001192092896
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: true
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Keep: 1
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Name: Odometry
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Position Tolerance: 0.10000000149011612
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Shape:
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Alpha: 1
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Axes Length: 0.5
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Axes Radius: 0.10000000149011612
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Color: 255; 25; 0
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Head Length: 0.10000000149011612
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Head Radius: 0.05000000074505806
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Shaft Length: 0.5
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Shaft Radius: 0.05000000074505806
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Value: Axes
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/odometry
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Value: true
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- Angle Tolerance: 0.10000000149011612
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Class: rviz_default_plugins/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.30000001192092896
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: false
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Keep: 10
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Name: Odometry_high
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Position Tolerance: 0.10000000149011612
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Shape:
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Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Color: 98; 160; 234
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Value: Arrow
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/odometry_highfreq
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Value: false
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- Class: rviz_default_plugins/MarkerArray
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Enabled: false
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Name: camera_view
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/camera_pose_visual
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Value: false
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Enabled: true
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Name: Odometry
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- Class: rviz_common/Group
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Displays:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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|
Name: slam_current
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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|
Value: /odin1/cloud_slam
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 0.10000000149011612
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 10
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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|
Name: slam_deacy
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 1
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/cloud_slam
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Class: rviz_default_plugins/MarkerArray
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Enabled: false
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Name: path
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/path
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Value: false
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Enabled: true
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Name: slam
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- Class: rviz_common/Group
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Displays:
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: dense_depth_image
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/depth_img_competetion
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: dense_depth_cloud
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/depth_img_competetion_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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Enabled: false
|
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Name: dense_depth_demo
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|
- Class: rviz_default_plugins/TF
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Enabled: false
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Frame Timeout: 15
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Frames:
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All Enabled: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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{}
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Update Interval: 0
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Value: false
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- Class: rviz_common/Group
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Displays:
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /target/pred_image
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Value: false
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- Alpha: 1
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Class: rviz_default_plugins/PointStamped
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Color: 224; 27; 36
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Enabled: false
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History Length: 10
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Name: target_pos_world
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Radius: 0.30000001192092896
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /odin1/sync/target_pos_world
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Value: false
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|
- Alpha: 1
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Class: rviz_default_plugins/PointStamped
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Color: 204; 41; 204
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Enabled: false
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History Length: 1
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Name: target_pos_cam
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Radius: 0.20000000298023224
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/sync/target_pos_cam
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Value: false
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- Alpha: 1
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Buffer Length: 1
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Class: rviz_default_plugins/Path
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Color: 255; 25; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Billboards
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Line Width: 0.05000000074505806
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Name: Path
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Offset:
|
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
|
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Pose Style: None
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Radius: 0.029999999329447746
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|
Shaft Diameter: 0.10000000149011612
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|
Shaft Length: 0.10000000149011612
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Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /target/pred_path_imu
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|
Value: true
|
|
- Class: rviz_default_plugins/Marker
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|
Enabled: false
|
|
Name: Marker
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|
Namespaces:
|
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{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /target/pred_trajectory_py
|
|
Value: false
|
|
- Class: rviz_default_plugins/Marker
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|
Enabled: false
|
|
Name: Marker
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|
Namespaces:
|
|
{}
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /target/pred_trajectory
|
|
Value: false
|
|
Enabled: true
|
|
Name: Prediction
|
|
- Class: rviz_common/Group
|
|
Displays:
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- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Class: grid_map_rviz_plugin/GridMap
|
|
Color: 200; 200; 200
|
|
Color Layer: traversability
|
|
Color Transformer: GridMapLayer
|
|
Enabled: true
|
|
Height Layer: elevation
|
|
Height Transformer: GridMapLayer
|
|
History Length: 1
|
|
Invert Rainbow: false
|
|
Max Color: 28; 113; 216
|
|
Max Intensity: 100
|
|
Min Color: 255; 120; 0
|
|
Min Intensity: 0
|
|
Name: GridMap
|
|
Show Grid Lines: true
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
Filter size: 10
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /local_grid_map
|
|
Use Rainbow: false
|
|
Value: true
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
Enabled: true
|
|
Name: path
|
|
Namespaces:
|
|
future_path: true
|
|
future_yaw: true
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /odin1/odometry_rts_future_markers
|
|
Value: true
|
|
Enabled: true
|
|
Name: Planning
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Fixed Frame: odom
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz_default_plugins/Interact
|
|
Hide Inactive Objects: true
|
|
- Class: rviz_default_plugins/MoveCamera
|
|
- Class: rviz_default_plugins/Select
|
|
- Class: rviz_default_plugins/FocusCamera
|
|
- Class: rviz_default_plugins/Measure
|
|
Line color: 128; 128; 0
|
|
- Class: rviz_default_plugins/SetInitialPose
|
|
Covariance x: 0.25
|
|
Covariance y: 0.25
|
|
Covariance yaw: 0.06853891909122467
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /initialpose
|
|
- Class: rviz_default_plugins/SetGoal
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /goal_pose
|
|
- Class: rviz_default_plugins/PublishPoint
|
|
Single click: true
|
|
Topic:
|
|
Depth: 5
|
|
Durability Policy: Volatile
|
|
History Policy: Keep Last
|
|
Reliability Policy: Reliable
|
|
Value: /clicked_point
|
|
Transformation:
|
|
Current:
|
|
Class: rviz_default_plugins/TF
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Class: rviz_default_plugins/ThirdPersonFollower
|
|
Distance: 12.054017066955566
|
|
Enable Stereo Rendering:
|
|
Stereo Eye Separation: 0.05999999865889549
|
|
Stereo Focal Distance: 1
|
|
Swap Stereo Eyes: false
|
|
Value: false
|
|
Focal Point:
|
|
X: 0.6477506160736084
|
|
Y: -0.3134164810180664
|
|
Z: 0
|
|
Focal Shape Fixed Size: false
|
|
Focal Shape Size: 0.05000000074505806
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.009999999776482582
|
|
Pitch: 1.0747967958450317
|
|
Target Frame: odin1_base_link
|
|
Value: ThirdPersonFollower (rviz_default_plugins)
|
|
Yaw: 3.0954017639160156
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 1043
|
|
Hide Left Dock: false
|
|
Hide Right Dock: false
|
|
Image:
|
|
collapsed: false
|
|
Image_undistort:
|
|
collapsed: false
|
|
QMainWindow State: 000000ff00000000fd0000000400000000000001d4000003b9fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d00610067006502000007d20000008e0000040500000358fb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000007da00000076000003f400000381fb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: false
|
|
Width: 1850
|
|
X: 70
|
|
Y: 0
|
|
cloudslam_reprojected:
|
|
collapsed: false
|
|
dense_depth_image:
|
|
collapsed: false
|