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viz_default.rviz
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viz_default.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Grid1/Offset1
- /ROGMap1/Map Bound1/Namespaces1
- /ROGMap1/Occ1/Autocompute Value Bounds1
Splitter Ratio: 0.37704917788505554
Tree Height: 363
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /3D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: Occ
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: 0.5
Y: 0.5
Z: 0
Plane: XY
Plane Cell Count: 101
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/Axes
Enabled: false
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Show Trail: false
Value: false
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /rm_node/rog_map/map_bound
Name: Map Bound
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.9500000476837158
Min Value: 0.25
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Occ_Inflate
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.20000000298023224
Style: Boxes
Topic: /rm_node/rog_map/inf_occ
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.950000047683716
Min Value: -0.550000011920929
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 136; 138; 133
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Occ
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.10000000149011612
Style: Boxes
Topic: /rm_node/rog_map/occ
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/PointCloud2
Color: 245; 121; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Frontier
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Boxes
Topic: /rm_node/rog_map/frontier
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 0.10000000149011612
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.9500000476837158
Min Value: 0.25
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Unk
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.05000000074505806
Style: Boxes
Topic: /rm_node/rog_map/unk
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.10000000149011612
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.9500000476837158
Min Value: 0.25
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Unk_Inflate
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.20000000298023224
Style: Boxes
Topic: /rm_node/rog_map/inf_unk
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: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: ESDF
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /rm_node/rog_map/esdf
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: ROGMap
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 9.457826614379883
Min Value: -0.8783246874809265
Value: true
Axis: Z
Channel Name: z
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Lidar
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Spheres
Topic: /cloud_registered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.10000000149011612
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: true
Enabled: true
Keep: 100
Name: Odom
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 0.30000001192092896
Axes Radius: 0.05000000074505806
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /lidar_slam/odom
Unreliable: false
Value: true
Enabled: true
Name: LIO
- Alpha: 1
Class: rviz/Axes
Enabled: false
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Show Trail: false
Value: false
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rm_node/visualization_marker_array
Name: StartGoal
Namespaces:
goal: true
goal_pos: true
start: true
start_pos: true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /rm_node/rrt_ball
Name: tree_vetices
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rm_node/informed_set
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
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/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.30000001192092896
Style: Spheres
Topic: /rm_node/rrt_star_final_wpts
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 114; 159; 207
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.10000000149011612
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /rm_node/rrt_star_final_path
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /rm_node/rrt_line
Name: tree_vetices
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /rm_node/goal
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /rm_node/start
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rm_node/visualization_marker_array
Name: MarkerArray
Namespaces:
goal: true
goal_pos: true
start: true
start_pos: true
Queue Size: 100
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 114; 159; 207
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.20000000298023224
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /rm_node/astar_final_path
Unreliable: false
Value: true
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 237; 212; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Spheres
Topic: /rm_node/astar_expanded
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: PathPlanner
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz_plugins/Goal3DTool
Topic: goal
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 43.685054779052734
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.22883081436157227
Y: -11.727310180664062
Z: 6.888890493428335e-05
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.0097968578338623
Target Frame: <Fixed Frame>
Yaw: 4.7154645919799805
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1440
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000002de000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e000000003d000001340000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000004dd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000007adfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000007ad000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065000000000000000a000000041800fffffffb0000000800540069006d0065010000000000000450000000000000000000000a00000005a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2560
X: 2560
Y: 0