mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Mathieu Labbe
92c30adad8
Added publishing of laserscan data with data_player Updated for latest changes of the library (some methods moved from util3d) rtabmapviz not saving GUI config on ctrl-c
371 lines
10 KiB
YAML
371 lines
10 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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- /TF1/Frames1
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Splitter Ratio: 0.434783
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Tree Height: 410
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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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Name: Tool Properties
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Splitter Ratio: 0.588679
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- Class: rviz/Views
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Expanded:
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- /Current View1
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- /Current View1/Focal Point1
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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: LaserScan
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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: 0.03
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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: map
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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: 2.02684
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Min Value: -1.12646
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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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: 2.34177e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Name: PointCloud2
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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): 0.01
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Style: Points
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Topic: /voxel_cloud
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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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- 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: false
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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: 3.66965
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Min Value: -0.144665
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Value: true
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Axis: X
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Channel Name: intensity
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Class: rviz/LaserScan
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Color: 255; 255; 255
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Color Transformer: AxisColor
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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: LaserScan
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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): 5
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Size (m): 0.01
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Style: Points
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Topic: /base_scan
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Use Fixed Frame: false
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Use rainbow: true
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Value: true
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- Alpha: 0.7
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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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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_footprint:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_laser_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLB_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLB_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLF_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelLF_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRB_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRB_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRF_linkWheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheelRF_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /camera/data_throttled_image_relay
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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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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): 3
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Cloud voxel size (m): 0.02
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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 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): 20
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Node filtering radius (m): 0.2
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /rtabmap/mapData
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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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- 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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Value: true
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- Alpha: 0.7
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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_projection_map
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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/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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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: 7.83194
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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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: 0.0199225
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Y: 0.23516
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Z: -0.0896359
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.699796
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Target Frame: base_link
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Value: OrbitOriented (rtabmap)
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Yaw: 3.19875
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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: 763
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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: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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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: 1561
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X: 42
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Y: 108
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