From 51cb5ed452655ed0b7c650e5c98db394ca5abf29 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 11 Nov 2015 14:44:21 -0500 Subject: [PATCH] updated azimu3_nav.rviz --- launch/azimut3/config/azimut3_nav.rviz | 176 ++++++++++++++++++++++--- 1 file changed, 160 insertions(+), 16 deletions(-) diff --git a/launch/azimut3/config/azimut3_nav.rviz b/launch/azimut3/config/azimut3_nav.rviz index b5f7631a..061978da 100644 --- a/launch/azimut3/config/azimut3_nav.rviz +++ b/launch/azimut3/config/azimut3_nav.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /TF1/Frames1 Splitter Ratio: 0.601881 - Tree Height: 187 + Tree Height: 353 - Class: rviz/Selection Name: Selection - Class: rviz/Views @@ -19,7 +19,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: Info - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 @@ -52,13 +52,73 @@ Visualization Manager: 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 @@ -102,18 +162,18 @@ Visualization Manager: Class: rviz/Map Color Scheme: costmap Draw Behind: false - Enabled: false + Enabled: true Name: Global costmap Topic: /planner/move_base/global_costmap/costmap - Value: false + Value: true - Alpha: 0.7 Class: rviz/Map Color Scheme: costmap Draw Behind: false - Enabled: true + Enabled: false Name: Local costmap Topic: /planner/move_base/local_costmap/costmap - Value: true + Value: false - Alpha: 1 Class: rviz/RobotModel Collision Enabled: false @@ -124,6 +184,61 @@ 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: "" @@ -132,7 +247,7 @@ Visualization Manager: Visual Enabled: true - Class: rviz/Image Enabled: true - Image Topic: /camera/data_resized_image_relay + Image Topic: /camera/throttled_image Max Value: 1 Median window: 5 Min Value: 0 @@ -171,7 +286,7 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.01 Style: Points - Topic: /rtabmap/mapData_relay + Topic: /rtabmap/mapData Use Fixed Frame: true Use rainbow: true Value: true @@ -185,7 +300,13 @@ Visualization Manager: Class: rviz/Path Color: 255; 149; 57 Enabled: true + Line Style: Lines + Line Width: 0.03 Name: move_base global plan + Offset: + X: 0 + Y: 0 + Z: 0 Topic: /planner/move_base/NavfnROS/plan Value: true - Alpha: 1 @@ -193,7 +314,13 @@ Visualization Manager: Class: rviz/Path Color: 2; 14; 255 Enabled: true + Line Style: Lines + Line Width: 0.03 Name: move_base local plan + Offset: + X: 0 + Y: 0 + Z: 0 Topic: /planner/move_base/TrajectoryPlannerROS/local_plan Value: true - Alpha: 1 @@ -227,17 +354,28 @@ Visualization Manager: Value: true - Alpha: 1 Class: rtabmap_ros/MapGraph - Color: 0; 0; 255 Enabled: true + Global loop closure: 255; 0; 0 + Local loop closure: 255; 255; 0 + Merged neighbor: 255; 170; 0 Name: MapGraph - Topic: /rtabmap/mapData_relay + Neighbor: 0; 0; 255 + Topic: /rtabmap/mapGraph + User: 255; 0; 0 Value: true + Virtual: 255; 0; 255 - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 255 Enabled: true + Line Style: Lines + Line Width: 0.03 Name: Rtabmap global path + Offset: + X: 0 + Y: 0 + Z: 0 Topic: /rtabmap/global_path Value: true - Alpha: 1 @@ -245,7 +383,13 @@ Visualization Manager: Class: rviz/Path Color: 85; 255; 255 Enabled: true + Line Style: Lines + Line Width: 0.03 Name: Rtabmap local path + Offset: + X: 0 + Y: 0 + Z: 0 Topic: /rtabmap/local_path Value: true - Alpha: 1 @@ -308,10 +452,10 @@ Visualization Manager: Z: -0.0856586 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.884797 + Pitch: 1.2448 Target Frame: base_footprint Value: Orbit (rviz) - Yaw: 3.81544 + Yaw: 3.76044 Saved: ~ Window Geometry: Displays: @@ -321,7 +465,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000fc000000dd00fffffffb0000000a0049006d006100670065010000012a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001a2000000dd00fffffffb0000000a0049006d00610067006501000001d0000000870000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -331,5 +475,5 @@ Window Geometry: Views: collapsed: false Width: 1228 - X: 406 - Y: 154 + X: 396 + Y: 144