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rtabmap_ros/launch/config/catvehicle.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
Splitter Ratio: 0.522352933883667
Tree Height: 297
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
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: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_steering_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_steering_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main_mass:
Alpha: 1
Show Axes: false
Show Trail: false
triclops_left_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
triclops_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: catvehicle/robot_description
TF Prefix: catvehicle
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 164; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /catvehicle/path
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: -9999
Min Value: 9999
Value: true
Axis: Z
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
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.5
Style: Spheres
Topic: /catvehicle/front_laser_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: ring
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /catvehicle/velodyne_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /catvehicle/map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /catvehicle/triclops/left/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 12.792472839355469
Min Value: 0.22430419921875
Value: true
Axis: Z
Channel Name: z
Class: rtabmap_ros/MapCloud
Cloud decimation: 1
Cloud from scan: true
Cloud max depth (m): 0
Cloud min depth (m): 1
Cloud voxel size (m): 0.20000000298023224
Color: 255; 255; 255
Color Transformer: AxisColor
Download graph: false
Download map: false
Download namespace: catvehicle
Enabled: true
Filter ceiling (m): 0
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: MapCloud
Node filtering angle (degrees): 30
Node filtering radius (m): 0
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /catvehicle/mapData
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap_ros/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Landmark: 0; 128; 0
Local loop closure: 255; 255; 0
Merged neighbor: 255; 170; 0
Name: MapGraph
Neighbor: 0; 0; 255
Topic: /catvehicle/mapGraph
Unreliable: false
User: 255; 0; 0
Value: true
Virtual: 255; 0; 255
Enabled: true
Global Options:
Background Color: 211; 215; 207
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rtabmap_ros/OrbitOriented
Distance: 32.8247184753418
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
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: 0.5253984332084656
Target Frame: catvehicle/base_link
Value: OrbitOriented (rtabmap_ros)
Yaw: 2.720399856567383
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 959
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000020c00000365fc020000000bfb000000100044006900730070006c006100790073000000003d00000166000000c900fffffffb0000000a0049006d006100670065010000003d000003650000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d0061006700650000000200000001b50000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000319000000cb0000000000000000000000010000010f00000365fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000365000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001c0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003cfc0100000002fb0000000800540069006d00650000000000000005a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000002470000036500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1113
X: 807
Y: 27
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