-
Notifications
You must be signed in to change notification settings - Fork 2
/
radar_odom.rviz
342 lines (342 loc) · 10 KB
/
radar_odom.rviz
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5386266112327576
Tree Height: 574
- 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: RCS filtered points
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.20000000298023224
Cell Size: 10
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: Map
Value: true
- Alpha: 1
Arrow Length: 1
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 85; 127
Enabled: true
Head Length: 1
Head Radius: 1
Name: RadarOdom
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.5
Shape: Arrow (Flat)
Topic: /radar_odom_pose
Unreliable: false
Value: true
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 803.8114013671875
Min Value: 777.9947509765625
Value: true
Axis: X
Channel Name: z
Class: rviz/PointCloud2
Color: 132; 132; 132
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Accum Map
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /odom_accumulated_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
Map:
Value: true
radar:
Value: true
Marker Alpha: 1
Marker Scale: 10
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
Map:
radar:
{}
Update Interval: 0
Value: true
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 18.112424850463867
Min Value: 6.302534103393555
Value: true
Axis: Z
Channel Name: RCS
Class: rviz/PointCloud2
Color: 204; 51; 204
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: true
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Radar Scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.05000000074505806
Style: Points
Topic: /vod_radar_points
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; 0; 0
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: RCS filtered points
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.009999999776482582
Style: Points
Topic: /rcs_filtered_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: power
Class: rviz/PointCloud2
Color: 255; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: mid
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.10000000149011612
Style: Points
Topic: /radar_point_cloud_mid
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: 85; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: short
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.10000000149011612
Style: Points
Topic: /radar_point_cloud_shrot
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Arrow Length: 1
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 85; 255; 127
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: GT
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /gt_odom_pose
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: RCS
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: VodRaw
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.009999999776482582
Style: Points
Topic: /vod_radar_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: Map
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/ThirdPersonFollower
Distance: 109.64088439941406
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: 11.619948387145996
Y: -3.3875224590301514
Z: -8.469968452118337e-05
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7197964787483215
Target Frame: afi910
Yaw: 6.247279644012451
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 865
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001d4000002c7fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002c7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000000200000002000000280000001e0fb0000000a0049006d00610067006500000003c50000012b0000000000000000fb0000000a0049006d0061006700650200000000000001f300000280000001e0fb0000000a0049006d006100670065000000020e000000f40000000000000000fb0000000a0049006d00610067006501000002ff000001f10000000000000000fb0000000a0049006d0061006700650100000343000001ad0000000000000000000000010000010f000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000004b5000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005660000003efc0100000002fb0000000800540069006d00650100000000000005660000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000038c000002c700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1382
X: 883
Y: 51