Panels: - Class: rviz_common/Displays Help Height: 138 Name: Displays Property Tree Widget: Expanded: - /Nvblox1 - /Stereo Cameras1 - /Stereo Cameras1/Back Stereo Camera1 - /Depth Images1/Front Depth1/Topic1 - /Depth Images1/Left Depth1/Topic1 - /Depth Images1/Right Depth1/Topic1 - /Depth Images1/Back Depth1 - /Depth Images1/Back Depth1/Topic1 - /Navigation1 Splitter Ratio: 0.7601010203361511 Tree Height: 664 - 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: Combined Esdf Visualization Manager: Class: "" Displays: - Class: rviz_default_plugins/TF Enabled: false Frame Timeout: 15 Frames: All Enabled: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: {} Update Interval: 0 Value: false - Class: rviz_default_plugins/Axes Enabled: true Length: 0.25 Name: Base Link Radius: 0.05000000074505806 Reference Frame: base_link Value: true - Alpha: 0.25 Cell Size: 1 Class: rviz_default_plugins/Grid Color: 0; 0; 0 Enabled: false 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: Value: false - Class: rviz_common/Group Displays: - Ceiling Height: 1.5 Class: nvblox_rviz_plugin/NvbloxVoxelBlockLayer Cut Ceiling: false Enabled: true Name: Nvblox Voxels Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/color_layer Value: true - Ceiling Height: 1.5 Class: nvblox_rviz_plugin/NvbloxVoxelBlockLayer Cut Ceiling: false Enabled: true Name: Dynamic Voxels Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/dynamic_occupancy_layer Value: true - Class: nvblox_rviz_plugin/NvbloxMesh Enabled: false Name: Nvblox Mesh Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/mesh Value: false - Class: rviz_default_plugins/Marker Enabled: false Name: ESDF Slice Bounds Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/esdf_slice_bounds Value: false - Class: rviz_default_plugins/Marker Enabled: false Name: Workspace Bounds Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/workspace_bounds Value: false - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1 Min Color: 0; 0; 0 Min Intensity: 0 Name: Static Esdf Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Tiles Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/static_esdf_pointcloud Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1 Min Color: 0; 0; 0 Min Intensity: 0 Name: Human Esdf Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Tiles Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/dynamic_esdf_pointcloud Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1 Min Color: 0; 0; 0 Min Intensity: 0 Name: Combined Esdf Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Tiles Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /nvblox_node/combined_esdf_pointcloud Use Fixed Frame: true Use rainbow: true Value: true Enabled: true Name: Nvblox - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image Enabled: true Max Value: 1 Median window: 5 Min Value: 0 Name: Front Stereo Camera Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /front_camera/left_ir/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 1 Median window: 5 Min Value: 0 Name: Left Stereo Camera Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /left_camera/left_ir/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 1 Median window: 5 Min Value: 0 Name: Right Stereo Camera Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /right_camera/left_ir/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 1 Median window: 5 Min Value: 0 Name: Back Stereo Camera Normalize Range: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /rear_camera/left_ir/image_raw Value: true Enabled: true Name: Stereo Cameras - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image Enabled: true Max Value: 8 Median window: 5 Min Value: 0 Name: Front Depth Normalize Range: false Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /front_camera/depth/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 8 Median window: 5 Min Value: 0 Name: Left Depth Normalize Range: false Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /left_camera/depth/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 8 Median window: 5 Min Value: 0 Name: Right Depth Normalize Range: false Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /right_camera/depth/image_raw Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 8 Median window: 5 Min Value: 0 Name: Back Depth Normalize Range: false Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /rear_camera/depth/image_raw Value: true Enabled: true Name: Depth Images - Class: rviz_common/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.05000000074505806 Name: Path Offset: X: 0 Y: 0 Z: 0.20000000298023224 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /unsmoothed_plan Value: true - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false Enabled: false Name: Local Costmap Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/costmap Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/costmap_updates Use Timestamp: false Value: false - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false Enabled: false Name: Global Costmap Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/costmap Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/costmap_updates Use Timestamp: false Value: false Enabled: true Name: Navigation - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false Enabled: false Name: Map Topic: Depth: 5 Durability Policy: Transient Local Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /map_updates Use Timestamp: false Value: false - 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: 100 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: /visual_slam/tracking/odometry Value: true - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path Color: 255; 120; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 3 Line Style: Billboards Line Width: 0.10000000149011612 Name: Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.10000000149011612 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /visual_slam/tracking/slam_path Value: true Enabled: true Global Options: Background Color: 190; 190; 190 Fixed Frame: 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: Class: rviz_default_plugins/ThirdPersonFollower Distance: 25.242799758911133 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: -2 Y: -0.75 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: 1.509796380996704 Target Frame: base_link Value: ThirdPersonFollower (rviz_default_plugins) Yaw: 3.149994373321533 Saved: ~ Window Geometry: Back Depth: collapsed: false Back Stereo Camera: collapsed: false Displays: collapsed: false Front Depth: collapsed: false Front Stereo Camera: collapsed: false Height: 1016 Hide Left Dock: false Hide Right Dock: true Left Depth: collapsed: false Left Stereo Camera: collapsed: false QMainWindow State: 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 Right Depth: collapsed: false Right Stereo Camera: collapsed: false Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1850 X: 70 Y: 27