rviz: added downloadGraph property

added relays for images on az3_mapping_client_rviz launch file

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1583 f169173b-cf89-36c8-b27e-44dbe73f0c83

launch/azimut3/az3_mapping_client_rviz.launch

@@ -5,10 +5,11 @@
   <include file="$(find az3_bringup)/joystick.launch"/> 
 
   <!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
-  <!-- a relay on this machine -->
-  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay" >
-    <param name="lazy" type="bool" value="false"/>
-  </node>
+  <!-- a relay on this machine, same for images -->
+  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
+  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
+  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
+  <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
 
   <!-- Grid map assembler for rviz -->
   <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
@@ -18,19 +19,14 @@
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
   
   <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
-<!--
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
-    <remap from="rgb/image"       to="/camera/data_throttled_image"/>
-    <remap from="depth/image"     to="/camera/data_throttled_image_depth"/>
-    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
+    <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
+    <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
+    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
     <remap from="cloud"           to="voxel_cloud" />
-
-    <param name="rgb/image_transport" type="string" value="theora"/>
-    <param name="depth/image_transport" type="string" value="compressedDepth"/>
     
     <param name="queue_size" type="int" value="10"/>
     <param name="voxel_size" type="double" value="0.01"/>
   </node>
---> 
 </launch>

launch/config/azimut3.rviz

@@ -7,7 +7,6 @@ Panels:
         - /Global Options1
         - /TF1/Frames1
         - /Info1
-        - /Info1/Status1
       Splitter Ratio: 0.5
     Tree Height: 527
   - Class: rviz/Selection
@@ -62,7 +61,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 2.34177e-38
@@ -78,7 +77,7 @@ Visualization Manager:
       Topic: /voxel_cloud
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Class: rviz/TF
       Enabled: true
       Frame Timeout: 15
@@ -156,8 +155,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 0.167568
-        Min Value: -4.37384
+        Max Value: 0.526358
+        Min Value: -2.54801
         Value: true
       Axis: X
       Channel Name: intensity
@@ -200,6 +199,61 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -208,14 +262,14 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /camera/data_throttled_image
+      Image Topic: /camera/data_throttled_image_relay
       Max Value: 1
       Median window: 5
       Min Value: 0
       Name: Image
       Normalize Range: true
       Queue Size: 2
-      Transport Hint: theora
+      Transport Hint: raw
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
@@ -231,6 +285,7 @@ Visualization Manager:
       Cloud voxel size (m): 0.02
       Color: 255; 255; 255
       Color Transformer: RGB8
+      Download graph: false
       Download map: false
       Enabled: true
       Invert Rainbow: false