diff --git a/launch/azimut3/az3_mapping_client.launch b/launch/azimut3/az3_mapping_client.launch
index 6973d133..c38c21c4 100644
--- a/launch/azimut3/az3_mapping_client.launch
+++ b/launch/azimut3/az3_mapping_client.launch
@@ -2,20 +2,21 @@
-
+
+
-
-
-
+
+
+
-
-
+
+
diff --git a/launch/azimut3/az3_mapping_client_rviz.launch b/launch/azimut3/az3_mapping_client_rviz.launch
index d3d87a49..c6c07d2e 100644
--- a/launch/azimut3/az3_mapping_client_rviz.launch
+++ b/launch/azimut3/az3_mapping_client_rviz.launch
@@ -1,23 +1,27 @@
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
-
+
-
-
-
+
+
+
diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index fbe1c829..99dc3093 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -7,52 +7,52 @@
-
-
+
+
-
-
-
+
+
+
-
-
-
-
+
+
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
-
+
+
+
-
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/launch/azimut3/az3_record.launch b/launch/azimut3/az3_record.launch
index 03cf9fb7..f788c205 100644
--- a/launch/azimut3/az3_record.launch
+++ b/launch/azimut3/az3_record.launch
@@ -6,16 +6,18 @@
-
-
+
+
+
-
-
-
+
+
+
-
-
-
-
+
+
+
+
+
diff --git a/launch/config/azimut3.rviz b/launch/config/azimut3.rviz
new file mode 100644
index 00000000..fa230960
--- /dev/null
+++ b/launch/config/azimut3.rviz
@@ -0,0 +1,273 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ Splitter Ratio: 0.5
+ Tree Height: 518
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: PointCloud2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: odom
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 2.02684
+ Min Value: -1.12646
+ Value: true
+ Axis: Z
+ Channel Name: rgb
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 2.34177e-38
+ Min Color: 0; 0; 0
+ Min Intensity: 9.21942e-41
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /voxel_cloud
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ base_footprint:
+ Value: true
+ base_laser_link:
+ Value: true
+ base_link:
+ Value: true
+ camera_depth_frame:
+ Value: true
+ camera_depth_optical_frame:
+ Value: true
+ camera_link:
+ Value: true
+ camera_rgb_frame:
+ Value: true
+ camera_rgb_optical_frame:
+ Value: true
+ map:
+ Value: true
+ odom:
+ Value: true
+ wheelLB_linkWheel_link:
+ Value: true
+ wheelLB_wheel_link:
+ Value: true
+ wheelLF_linkWheel_link:
+ Value: true
+ wheelLF_wheel_link:
+ Value: true
+ wheelRB_linkWheel_link:
+ Value: true
+ wheelRB_wheel_link:
+ Value: true
+ wheelRF_linkWheel_link:
+ Value: true
+ wheelRF_wheel_link:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ odom:
+ base_footprint:
+ base_link:
+ base_laser_link:
+ {}
+ camera_link:
+ camera_depth_frame:
+ camera_depth_optical_frame:
+ {}
+ camera_rgb_frame:
+ camera_rgb_optical_frame:
+ {}
+ wheelLB_linkWheel_link:
+ wheelLB_wheel_link:
+ {}
+ wheelLF_linkWheel_link:
+ wheelLF_wheel_link:
+ {}
+ wheelRB_linkWheel_link:
+ wheelRB_wheel_link:
+ {}
+ wheelRF_linkWheel_link:
+ wheelRF_wheel_link:
+ {}
+ Update Interval: 0
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 2.3372
+ Min Value: -0.700095
+ 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
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Points
+ Topic: /rtabmap/assembled_clouds
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 4.32969
+ Min Value: 0.0999999
+ Value: true
+ Axis: X
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.01
+ Style: Flat Squares
+ Topic: /base_scan
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.7
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /rtabmap/grid_map
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 4.96612
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 1.17441
+ Y: -0.31936
+ Z: 0.337029
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.3298
+ Target Frame: base_link
+ Value: Orbit (rviz)
+ Yaw: 3.66418
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 691
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000013600000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003bd0000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1273
+ X: 198
+ Y: 201