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autonomous.rviz
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autonomous.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /Localization1
- /Localization1/map_cloud1
- /Localization1/AlignedPointCloud1/Autocompute Value Bounds1
- /Planner1
- /Control1/TwistStamped1
- /Control1/Marker1
- /Mission1/InteractiveMarkers1
- /Mission1/missionPlan1
- /Marker1
Splitter Ratio: 0.5375586748123169
Tree Height: 1071
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
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: AlignedPointCloud
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: 100
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
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0.009999999776482582
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: true
base_point:
Value: true
drone_base:
Value: true
gnss:
Value: true
map:
Value: true
os_sensor:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_point:
base_link:
{}
gnss:
{}
map:
drone_base:
os_sensor:
{}
Update Interval: 0
Value: true
- Class: rviz/Axes
Enabled: true
Length: 2
Name: Axes
Radius: 0.20000000298023224
Reference Frame: base_point
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 16.197994232177734
Min Value: -0.8440753221511841
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 238; 238; 236
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: map_cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: false
Size (Pixels): 1
Size (m): 0.03999999910593033
Style: Points
Topic: /globalmap
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10.934226989746094
Min Value: -1.1918919086456299
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 187
Min Color: 0; 0; 0
Min Intensity: 1
Name: AlignedPointCloud
Position Transformer: XYZ
Queue Size: 1
Selectable: false
Size (Pixels): 7
Size (m): 0.05999999865889549
Style: Points
Topic: /aligned_points_voxel_filterd
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: jsk_rviz_plugin/PieChart
Enabled: true
Name: RTK stat
Topic: /gnss_available_filter/rtk_position_health_visualizer
Value: true
auto color change: true
background color: 185; 185; 185
backround alpha: 0
clockwise rotate direction: false
foreground alpha: 0.800000011920929
foreground alpha 2: 0.4000000059604645
foreground color: 255; 0; 0
left: 197
max color: 0; 255; 255
max color change threthold: 0
max value: 50
med color: 255; 0; 0
med color change threthold: 0
min value: 0
show caption: true
size: 128
text size: 20
top: 88
- Buffer length: 100
Class: jsk_rviz_plugin/Plotter2D
Enabled: true
Name: Lidar Score
Show Value: true
Topic: /scan_match_fitness_score
Value: true
auto color change: true
auto scale: false
background color: 0; 0; 0
backround alpha: 0
border: true
foreground alpha: 0.800000011920929
foreground color: 0; 255; 255
height: 128
left: 12
linewidth: 3
max color: 255; 0; 0
max value: 2
min value: 0
show caption: true
text size: 12
top: 88
update interval: 0.03999999910593033
width: 128
- Align Bottom: false
Background Alpha: 0.800000011920929
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/String
Enabled: false
Foreground Alpha: 0.800000011920929
Foreground Color: 25; 255; 240
Name: String
Overtake Color Properties: false
Overtake Position Properties: true
Topic: /hdl_localization/process_time
Value: false
font: DejaVu Sans Mono
height: 56
left: 0
line width: 2
text size: 12
top: 0
width: 256
Enabled: true
Name: Localization
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 255; 127
Enabled: true
Head Diameter: 0.20000000298023224
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.05000000074505806
Name: global Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.03999999910593033
Shaft Length: 0.009999999776482582
Topic: /global_planner/global_path
Unreliable: false
Value: true
- Class: octomap_rviz_plugin/OccupancyGrid
Enabled: true
Max. Height Display: 3.4028234663852886e+38
Max. Octree Depth: 16
Min. Height Display: -3.4028234663852886e+38
Name: LocalOccupancyGrid
Octomap Topic: /local_octomap/octomap_full
Queue Size: 1
Value: true
Voxel Alpha: 1
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 255; 255
Enabled: true
Head Diameter: 0.10000000149011612
Head Length: 0.10000000149011612
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.029999999329447746
Name: local path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.009999999776482582
Shaft Length: 0.009999999776482582
Topic: /local_planner_node/local_plan_path
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /local_planner_node/visualization_goal_marker
Name: GoalMarker
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Name: Planner
- Class: rviz/Group
Displays:
- Class: jsk_rviz_plugin/TwistStamped
Enabled: true
Name: TwistStamped
Topic: /avg_twist_filter/filter_out
Unreliable: false
Value: true
angular color: 255; 0; 0
angular scale: 4
linear color: 255; 170; 0
linear scale: 2
- Class: rviz/Marker
Enabled: true
Marker Topic: /visualization_goal_marker
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Name: Control
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.10000000149011612
Head Length: 0.10000000149011612
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: LPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.03999999910593033
Shaft Length: 0.05000000074505806
Topic: /visualization_robot_local_path
Unreliable: false
Value: true
- Class: rviz/InteractiveMarkers
Enable Transparency: false
Enabled: true
Name: InteractiveMarkers
Show Axes: true
Show Descriptions: true
Show Visual Aids: false
Update Topic: /waypoint_nav/update
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: missionPlan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: ""
Unreliable: false
Value: true
Enabled: true
Name: Mission
- Class: rviz/Group
Displays:
- Angle Tolerance: 0
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: false
Keep: 1
Name: Odometry
Position Tolerance: 0
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: /coordinate_transform/gnss_odom_in_basepoint
Unreliable: false
Value: false
- Angle Tolerance: 0
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: false
Keep: 1
Name: Odometry
Position Tolerance: 0
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: /hdl_localization/odom
Unreliable: false
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: ""
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: ""
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /local_octomap/pointcloud_detect_fail_safe
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 6; 52
Enabled: true
History Length: 1
Name: PointStamped
Radius: 0.5
Topic: /obstacle_check/local_octomap/closest_point
Unreliable: false
Value: true
- Align Bottom: false
Background Alpha: 0.800000011920929
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: false
Foreground Alpha: 0.800000011920929
Foreground Color: 25; 255; 240
Invert Shadow: true
Name: OverlayText
Overtake BG Color Properties: true
Overtake FG Color Properties: true
Overtake Position Properties: true
Topic: /rosconsole_overlay/output
Value: false
font: Ubuntu Mono
height: 200
left: 917
line width: 2
text size: 10
top: 11
width: 700
Enabled: false
Name: Debug
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: PointStamped
Radius: 0.20000000298023224
Topic: /local_octomap/closest_point
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /environment_mesh
Name: Marker
Namespaces:
{}
Queue Size: 1
Value: true
Enabled: true
Global Options:
Background Color: 36; 36; 36
Default Light: true
Fixed Frame: base_point
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
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 51.80888748168945
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
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: 0.7153984904289246
Target Frame: base_link
Value: ThirdPersonFollower (rviz)
Yaw: 4.050405025482178
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1330
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000002290000047afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000490000047a000000f500fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000260057006100790070006f0069006e00740020004e0061007600690067006100740069006f006e0100000381000001420000000000000000000000010000010f0000047afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000490000047a000000c800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000045fc0100000002fb0000000800540069006d006501000000000000073d0000031d00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f70000047a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1853
X: 1061
Y: 185