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sara_shield.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /MarkerArray1
- /MarkerArray1/Status1
- /MarkerArray1/Namespaces1
Splitter Ratio: 0.5
Tree Height: 725
- 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
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: true
Enabled: true
Links:
All Links Enabled: true
D435i_camera_back_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
D435i_camera_front_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
J1_A_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1_B_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1_C_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1_D_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1_E_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J2_E_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J3_E_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J4_E_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J5_E_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J6_E_stator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J_wheel_A_stator:
Alpha: 1
Show Axes: false
Show Trail: false
J_wheel_B_stator:
Alpha: 1
Show Axes: false
Show Trail: false
J_wheel_C_stator:
Alpha: 1
Show Axes: false
Show Trail: false
J_wheel_D_stator:
Alpha: 1
Show Axes: false
Show Trail: false
L_1_A:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_1_B:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_1_C:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_1_D:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_1_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_2_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_3_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_4_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_5_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
L_6_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
T265_camera_left_pose_frame:
Alpha: 1
Show Axes: false
Show Trail: false
T265_camera_right_pose_frame:
Alpha: 1
Show Axes: false
Show Trail: false
VLP16_lidar_back_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
VLP16_lidar_front_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ee_E:
Alpha: 1
Show Axes: false
Show Trail: false
end_effector_E:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mobile_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
ultrasound_fl_lat:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fl_lat_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fl_sag:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fl_sag_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fr_lat:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fr_lat_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fr_sag:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_fr_sag_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rl_lat:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rl_lat_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rl_sag:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rl_sag_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rr_lat:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rr_lat_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rr_sag:
Alpha: 1
Show Axes: false
Show Trail: false
ultrasound_rr_sag_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
wheel_A:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_B:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_C:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_D:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: xbotcore/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: 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: RGB8
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): 0.009999999776482582
Style: Flat Squares
Topic: /D435i_camera_back/depth/color/points
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: 255; 255; 255
Color Transformer: RGB8
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): 0.009999999776482582
Style: Flat Squares
Topic: /D435i_camera_front/depth/color/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.21337836980819702
Min Value: -0.7516553997993469
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
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /VLP16_lidar_back/velodyne_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.2156069576740265
Min Value: -0.7523969411849976
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
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /VLP16_lidar_front/velodyne_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_fl_lat
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_fl_sag
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_fr_lat
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_fr_sag
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_rl_lat
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_rl_sag
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_rr_lat
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 10
Topic: /bosch_uss5/ultrasound_rr_sag
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /sara_shield/human_joint_marker_array
Name: MarkerArray
Namespaces:
shapes: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /sara_shield/robot_joint_marker_array
Name: MarkerArray
Namespaces:
shapes: true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
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: 4.618852615356445
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: -0.6073064208030701
Y: 0.03444206714630127
Z: 1.2027359008789062
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -0.030204785987734795
Target Frame: <Fixed Frame>
Yaw: 6.258096694946289
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000003b50000035efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000037b0000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1846
X: 74
Y: 27