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husky_sim.rviz
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husky_sim.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1/Frames1
- /TF1/Tree1
- /Sensing1
- /Sensing1/Rover Odometry1
- /Sensing1/Rover GPS1
- /Sensing1/Rover GPS Odom1
- /Navigation1
- /Navigation1/Global Plan in Local1
Splitter Ratio: 0.494924
Tree Height: 815
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
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: Sick LMS111 Laser
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: 30
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
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_laser_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_bumper_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_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_plate_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
user_rail_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: true
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: false
base_laser:
Value: false
base_laser_mount:
Value: false
base_link:
Value: false
front_bumper_link:
Value: false
front_left_wheel_link:
Value: false
front_right_wheel_link:
Value: false
imu_link:
Value: false
inertial_link:
Value: false
map:
Value: true
odom:
Value: true
rear_bumper_link:
Value: false
rear_left_wheel_link:
Value: false
rear_right_wheel_link:
Value: false
top_chassis_link:
Value: false
top_plate_link:
Value: false
user_rail_link:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
base_footprint:
{}
front_bumper_link:
{}
front_left_wheel_link:
{}
front_right_wheel_link:
{}
imu_link:
{}
inertial_link:
{}
rear_bumper_link:
{}
rear_left_wheel_link:
{}
rear_right_wheel_link:
{}
top_chassis_link:
{}
top_plate_link:
base_laser_mount:
base_laser:
{}
user_rail_link:
{}
Update Interval: 0
Value: true
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: true
Name: TwistMarker
Show Axes: false
Show Descriptions: false
Show Visual Aids: false
Update Topic: /twist_marker_server/update
Value: true
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 85; 170; 255
Enabled: false
Keep: 9999
Length: 0.1
Name: Odometry
Position Tolerance: 0.1
Topic: /odometry/filtered
Value: false
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 255; 25; 0
Enabled: true
Keep: 500
Length: 0.2
Name: Rover Odometry
Position Tolerance: 0.1
Topic: /odometry/rover_odom
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 0; 0; 255
Enabled: true
Keep: 500
Length: 0.2
Name: Rover GPS
Position Tolerance: 0.1
Topic: /odometry/rover_gps
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 0; 255; 0
Enabled: true
Keep: 500
Length: 0.2
Name: Rover GPS Odom
Position Tolerance: 0.1
Topic: /odometry/rover_gps_odom
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.40593
Min Value: 0.40593
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 127
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: -1.83101e-36
Name: Sick LMS111 Laser
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.03
Style: Flat Squares
Topic: /scan
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: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /camera/depth/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Acceleration properties:
Acc. vector alpha: 0.5
Acc. vector color: 85; 0; 255
Acc. vector scale: 0.05
Derotate acceleration: false
Enable acceleration: true
Axes properties:
Axes scale: 1
Enable axes: true
Box properties:
Box alpha: 1
Box color: 85; 0; 255
Enable box: false
x_scale: 0.4
y_scale: 0.4
z_scale: 0.4
Class: rviz_imu_plugin/Imu
Enabled: false
Name: Imu
Topic: /imu/data
Unreliable: false
Value: false
Enabled: true
Name: Sensing
- Class: rviz/Group
Displays:
- Class: rviz/Group
Displays:
- Class: rviz/Marker
Enabled: true
Marker Topic: /exploration_polygon_marker
Name: Exploration Marker
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Exploration Costmap
Topic: /explore_server/explore_costmap/costmap
Unreliable: false
Value: true
Enabled: false
Name: Exploration
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: false
Name: Static Map
Topic: /map
Unreliable: false
Value: false
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Global Costmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: Global Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Style: None
Radius: 0.03
Shaft Diameter: 0.1
Shaft Length: 0.1
Topic: /move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: Local Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Style: None
Radius: 0.03
Shaft Diameter: 0.1
Shaft Length: 0.1
Topic: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 85; 255
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: Global Plan in Local
Offset:
X: 0
Y: 0
Z: 0
Pose Style: None
Radius: 0.03
Shaft Diameter: 0.1
Shaft Length: 0.1
Topic: /move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
Enabled: true
Name: Navigation
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 24
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/PublishPoint
Single click: false
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 20.1501
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.94646
Y: 1.14946
Z: -1.92824
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.1948
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.99222
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1028
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001cc000003befc0200000005fb000000100044006900730070006c0061007900730100000028000003be000000dd00fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017a000000010000010f000002ddfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000002dd000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f000000ddfc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000056d000003be00000004000000040000000800000008fc0000000400000000000000000000000200000000000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 55
Y: 14