updated azimut3 navigation launch with rtabmap's planner

launch/azimut3/config/azimut3_nav.rviz

@@ -6,6 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /TF1/Frames1
+        - /Info1/Status1
+        - /MapGraph1
       Splitter Ratio: 0.601881
     Tree Height: 337
   - Class: rviz/Selection
@@ -20,7 +22,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: Image
   - Class: rviz/Tool Properties
     Expanded:
       - /2D Pose Estimate1
@@ -125,8 +127,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: -0.904062
-        Min Value: -2.17531
+        Max Value: 5.19727
+        Min Value: -0.547517
         Value: true
       Axis: X
       Channel Name: intensity
@@ -326,13 +328,6 @@ Visualization Manager:
       Name: Path
       Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
       Value: true
-    - Alpha: 1
-      class: rtabmap_ros/MapGraph
-      Color: 0; 0; 255
-      Enabled: true
-      Name: MapGraph
-      Topic: /rtabmap/mapData_relay
-      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -345,7 +340,7 @@ Visualization Manager:
       Color: 85; 255; 0
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -361,6 +356,13 @@ Visualization Manager:
       Topic: /voxel_cloud
       Use Fixed Frame: true
       Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Class: rtabmap_ros/MapGraph
+      Color: 255; 0; 0
+      Enabled: true
+      Name: MapGraph
+      Topic: /rtabmap/mapData_relay
       Value: true
   Enabled: true
   Global Options:
@@ -381,23 +383,23 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      class: rtabmap_ros/OrbitOriented
-      Distance: 25.5693
+      Class: rviz/Orbit
+      Distance: 14.3083
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.29372
-        Y: -0.0308032
-        Z: -0.622506
+        X: 1.91382
+        Y: -0.564774
+        Z: 0.661231
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 1.3098
-      Target Frame: base_footprint
-      Value: OrbitOriented (rtabmap)
-      Yaw: 3.11245
+      Pitch: 1.4054
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.1704
     Saved: ~
 Window Geometry:
   Displays: