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imageViewerConfig.rviz
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Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /RobotModel1/Description Topic1
- /TF1/Frames1
- /Image3/Topic1
- /Odometry2/Shape1
- /Odometry3/Shape1
Splitter Ratio: 0.5
Tree Height: 217
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/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_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/robot_description
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
robot1/aruco:
Value: true
robot1/base_footprint:
Value: true
robot1/base_laser:
Value: true
robot1/base_link:
Value: true
robot1/camera1_link:
Value: true
robot1/camera1_link_optical:
Value: true
robot1/camera2_base_rotated:
Value: true
robot1/camera2_link:
Value: true
robot1/camera2_link_optical:
Value: true
robot1/camera3_base_rotated:
Value: true
robot1/camera3_link:
Value: true
robot1/camera3_link_optical:
Value: true
robot1/chassis:
Value: true
robot1/first_wheel_link:
Value: true
robot1/imu:
Value: true
robot1/ldlidar_base:
Value: true
robot1/ldlidar_link:
Value: true
robot1/second_wheel_link:
Value: true
robot1/third_wheel_link:
Value: true
robot2/aruco:
Value: false
robot2/base_footprint:
Value: false
robot2/base_laser:
Value: true
robot2/base_link:
Value: false
robot2/camera1_link:
Value: true
robot2/camera1_link_optical:
Value: true
robot2/camera2_base_rotated:
Value: true
robot2/camera2_link:
Value: true
robot2/camera2_link_optical:
Value: true
robot2/camera3_base_rotated:
Value: true
robot2/camera3_link:
Value: true
robot2/camera3_link_optical:
Value: true
robot2/chassis:
Value: true
robot2/first_wheel_link:
Value: true
robot2/imu:
Value: true
robot2/ldlidar_base:
Value: true
robot2/ldlidar_link:
Value: true
robot2/second_wheel_link:
Value: true
robot2/third_wheel_link:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/camera1/img_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/camera2/img_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/camera3/img_raw
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_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/lidar
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/robot_description
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
aruco:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
camera1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera1_link_optical:
Alpha: 1
Show Axes: false
Show Trail: false
camera2_base_rotated:
Alpha: 1
Show Axes: false
Show Trail: false
camera2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera2_link_optical:
Alpha: 1
Show Axes: false
Show Trail: false
camera3_base_rotated:
Alpha: 1
Show Axes: false
Show Trail: false
camera3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera3_link_optical:
Alpha: 1
Show Axes: false
Show Trail: false
chassis:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
first_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
ldlidar_base:
Alpha: 1
Show Axes: false
Show Trail: false
ldlidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
r10_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r10_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r10_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r1_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r1_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r1_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r2_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r2_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r2_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r3_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r3_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r3_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r4_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r4_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r4_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r5_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r5_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r5_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r6_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r6_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r6_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r7_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r7_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r7_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r8_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r8_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r8_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r9_F_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r9_S_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r9_T_roller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
second_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
third_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: robot1
Update Interval: 0
Value: true
Visual Enabled: true
- Acceleration properties:
Acc. vector alpha: 0.5
Acc. vector color: 255; 0; 0
Acc. vector scale: 0.09000000357627869
Derotate acceleration: true
Enable acceleration: true
Axes properties:
Axes scale: 0.5
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: true
Name: Imu
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/imu
Value: true
fixed_frame_orientation: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: AllObstacles
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/raw_obstacles_marker
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: AllLines
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/raw_lines_marker
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Poteaux
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/position_candidates_marker
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/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: true
Enabled: true
Keep: 10
Name: Odometry
Position Tolerance: 0.10000000149011612
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:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/omnidirectional_controller/odom
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/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: true
Enabled: true
Keep: 10
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 255; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/poteau_position
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/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: true
Enabled: true
Keep: 10
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 0; 170; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /odometry/filtered
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/camera1_segm/colored_map
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/camera2_segm/colored_map
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot1/camera3_segm/colored_map
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: robot1/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:
Angle: -0.035000029951334
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 302.8804931640625
Target Frame: robot1/aruco
Value: TopDownOrtho (rviz_default_plugins)
X: 0.43641549348831177
Y: -0.008067110553383827
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1361
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000004d200000116fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000022c00000116000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000004b2000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000a0000000210fc0100000005fb0000000a0049006d00610067006501000000000000033f0000005d00fffffffb0000000a0049006d0061006700650100000345000003590000005d00fffffffb0000000a0049006d00610067006501000006a40000035c0000005d00fffffffb0000000a0049006d006100670065000000078b000002750000000000000000fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a00000001ecfc0100000005fb0000000a0049006d00610067006501000000000000034e0000005d00fffffffb0000000a0049006d0061006700650100000354000003540000005d00fffffffb0000000a0049006d00610067006501000006ae000003520000005d00fffffffb0000000800540069006d0065000000000000000a000000027900fffffffb0000000800540069006d00650100000000000004500000000000000000000005280000011600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2560
X: 0
Y: 0