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rtabmap_ros/rtabmap_demos/launch/config/turtlebot_navigation.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /TF1/Tree1
- /Global Map1/Costmap1
- /Global Map1/Planner1
- /Local Map1/Costmap1
- /Local Map1/Planner1
Splitter Ratio: 0.5
Tree Height: 481
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Rtabmap cloud
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: map
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
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
caster_back_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cliff_sensor_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
cliff_sensor_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
cliff_sensor_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
gyro_link:
Alpha: 1
Show Axes: false
Show Trail: false
plate_bottom_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_middle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_top_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_kinect_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_kinect_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Squares
Topic: /scan
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: intensity
Class: rviz/PointCloud2
Color: 255; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Bumper Hit
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.08
Style: Spheres
Topic: /mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Value: true
- Class: rviz/Group
Displays:
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Costmap
Topic: /move_base/global_costmap/costmap
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Name: Planner
Topic: /move_base/TrajectoryPlannerROS/global_plan
Value: true
Enabled: true
Name: Global Map
- Class: rviz/Group
Displays:
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Costmap
Topic: /move_base/local_costmap/costmap
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 12; 255
Enabled: true
Name: Planner
Topic: /move_base/TrajectoryPlannerROS/local_plan
Value: true
Enabled: true
Name: Local Map
- Arrow Length: 0.2
Class: rviz/PoseArray
Color: 0; 192; 0
Enabled: true
Name: Amcl Particles
Topic: /particlecloud
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.05
Color: 255; 255; 255
Color Transformer: RGB8
Download graph: false
Download map: false
Enabled: true
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Rtabmap cloud
Node filtering angle (degrees): 0
Node filtering radius (m): 0
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/MoveCamera
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/Measure
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 5.31174
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.00901246
Y: -0.126793
Z: 0.0223136
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.3598
Target Frame: base_footprint
Value: Orbit (rviz)
Yaw: 3.12914
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 694
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001e500000270fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000270000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002df0000027000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1503
X: 85
Y: 188
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