mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
319 lines
9.0 KiB
YAML
319 lines
9.0 KiB
YAML
Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 420
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: Image
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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az3_base_link:
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Value: true
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az3_odom:
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Value: true
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base_footprint:
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Value: true
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base_laser_link:
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Value: true
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base_link:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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stereo_camera:
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Value: true
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stereo_camera_base:
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Value: true
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wheelLB_linkWheel_link:
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Value: true
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wheelLB_wheel_link:
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Value: true
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wheelLF_linkWheel_link:
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Value: true
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wheelLF_wheel_link:
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Value: true
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wheelRB_linkWheel_link:
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Value: true
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wheelRB_wheel_link:
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Value: true
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wheelRF_linkWheel_link:
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Value: true
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wheelRF_wheel_link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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odom:
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base_footprint:
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base_link:
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base_laser_link:
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{}
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stereo_camera_base:
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stereo_camera:
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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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{}
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wheelLF_linkWheel_link:
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wheelLF_wheel_link:
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{}
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wheelRB_linkWheel_link:
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wheelRB_wheel_link:
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{}
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wheelRF_linkWheel_link:
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wheelRF_wheel_link:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rtabmap_ros/MapCloud
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Cloud decimation: 4
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Cloud max depth (m): 4
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Cloud min depth (m): 0
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Cloud voxel size (m): 0
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Enabled: true
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Filter ceiling (m): 0
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 30
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Node filtering radius (m): 0
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Points
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Topic: /rtabmap/mapData
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Class: rtabmap_ros/MapGraph
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Enabled: true
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Global loop closure: 255; 0; 0
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Local loop closure: 255; 255; 0
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Merged neighbor: 255; 170; 0
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Name: MapGraph
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Neighbor: 0; 0; 255
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Topic: /rtabmap/mapGraph
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Unreliable: false
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User: 255; 0; 0
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Value: true
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Virtual: 255; 0; 255
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- Class: rviz/Image
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Enabled: true
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Image Topic: /stereo_camera/left/image_rect_color
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /rtabmap/grid_map
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Unreliable: false
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Value: true
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- Class: rtabmap_ros/Info
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Enabled: true
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Name: Info
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Topic: /rtabmap/info
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Unreliable: false
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 1.17744994
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Min Value: -1.72299004
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: OdomMap
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Points
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Topic: /rtabmap/odom_local_map
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 85; 255; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: OdomFrame
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Points
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Topic: /rtabmap/odom_last_frame
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rtabmap_ros/OrbitOriented
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Distance: 8.28384018
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.109544002
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Y: 0.145557001
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Z: 0.113348998
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.635397971
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Target Frame: base_footprint
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Value: OrbitOriented (rtabmap)
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Yaw: 3.0704
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 848
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Hide Left Dock: false
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a0000030afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000233000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000261000000d10000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c40000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003cd0000030a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1341
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X: 97
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Y: 24
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