Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Grid1/Offset1 - /TF1/Frames1 - /Global Map1 - /Local Map1/Costmap1 - /Local Map1/Trajectory1 - /Local Map1/Trajectory1/transform plan1 Splitter Ratio: 0.37295082211494446 Tree Height: 422 - 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 Name: Time SyncMode: 0 SyncSource: Back LaserScan 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: 5 Y: 5 Z: 0 Plane: XY Plane Cell Count: 100 Reference Frame: map Value: true - Alpha: 0.4000000059604645 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: /map Unreliable: false Use Timestamp: false Value: true - Alpha: 0.5 Class: rviz/RobotModel Collision Enabled: true Enabled: false Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order Name: RobotModel Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: false Visual Enabled: true - Class: rviz/TF Enabled: true Filter (blacklist): "" Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false back_nanoscan3_base_link: Value: false back_nanoscan3_sensor_link: Value: false base_footprint: Value: true base_link: Value: false bl_caster_rotation_link: Value: false bl_caster_wheel_link: Value: false br_caster_rotation_link: Value: false br_caster_wheel_link: Value: false camera_link: Value: false fl_caster_rotation_link: Value: false fl_caster_wheel_link: Value: false fr_caster_rotation_link: Value: false fr_caster_wheel_link: Value: false front_nanoscan3_base_link: Value: false front_nanoscan3_sensor_link: Value: false imu_frame: Value: false imu_link: Value: false left_wheel_link: Value: false lifting_link: Value: false map: Value: true odom: Value: true right_wheel_link: Value: false surface: Value: false Marker Alpha: 1 Marker Scale: 0.5 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: map: odom: base_footprint: base_link: back_nanoscan3_base_link: back_nanoscan3_sensor_link: {} bl_caster_rotation_link: bl_caster_wheel_link: {} br_caster_rotation_link: br_caster_wheel_link: {} camera_link: {} fl_caster_rotation_link: fl_caster_wheel_link: {} fr_caster_rotation_link: fr_caster_wheel_link: {} front_nanoscan3_base_link: front_nanoscan3_sensor_link: {} imu_link: imu_frame: {} left_wheel_link: {} lifting_link: surface: {} right_wheel_link: {} Update Interval: 0 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/LaserScan Color: 204; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: Front LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 6 Size (m): 0.09000000357627869 Style: Points Topic: f_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/LaserScan Color: 0; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: Back LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /b_scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Arrow Length: 0.20000000298023224 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 0; 192; 0 Enabled: false Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: Amcl Particle Swarm Queue Size: 10 Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: particlecloud Unreliable: false Value: false - Class: rviz/Group Displays: - Alpha: 0.5 Class: rviz/Map Color Scheme: costmap Draw Behind: true Enabled: true Name: Costmap Topic: /global_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: false Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.20000000298023224 Line Style: Lines Line Width: 0.05000000074505806 Name: Full Plan Offset: X: 0 Y: 0 Z: 0.8999999761581421 Pose Color: 255; 85; 255 Pose Style: Axes Queue Size: 10 Radius: 0.019999999552965164 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /amr_node/SBPLLatticePlanner/plan Unreliable: false Value: false - Alpha: 1 Class: rviz/Polygon Color: 255; 0; 0 Enabled: true Name: Footprint Queue Size: 10 Topic: /global_costmap/costmap/footprint Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.00800000037997961 Line Style: Billboards Line Width: 0.009999999776482582 Name: CustomPath Offset: X: 0 Y: 0 Z: 0.8999999761581421 Pose Color: 255; 85; 255 Pose Style: None Queue Size: 10 Radius: 0.004999999888241291 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /amr_node/CustomPlanner/plan Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 0; 0; 0 Enabled: false Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Straight Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: Axes Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /amr_node/LocalPlannerAdapter/MKTGoStraightLocalPlanner/global_plan Unreliable: false Value: false Enabled: true Name: Global Map - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 252; 175; 62 Enabled: false Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.03999999910593033 Line Style: Lines Line Width: 0.029999999329447746 Name: Global Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: Axes Queue Size: 10 Radius: 0.009999999776482582 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /amr_node/LocalPlannerAdapter/global_plan Unreliable: false Value: false - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Costmap Topic: /local_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 1 Class: rviz/Polygon Color: 25; 255; 0 Enabled: true Name: Footprint Queue Size: 10 Topic: /amr_node/local_costmap/footprint Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 138; 226; 52 Enabled: false Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.029999999329447746 Line Style: Billboards Line Width: 0.029999999329447746 Name: Local Plan Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: Axes Queue Size: 10 Radius: 0.009999999776482582 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /amr_node/LocalPlannerAdapter/transformed_global_plan Unreliable: false 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/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false 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: Flat Squares Topic: /amr_node/PredictiveTrajectory/cost_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Class: rviz/Group Displays: - Alpha: 1 Axes Length: 0.10000000149011612 Axes Radius: 0.029999999329447746 Class: rviz/Pose Color: 0; 0; 0 Enabled: true Head Length: 0.05000000074505806 Head Radius: 0.05000000074505806 Name: SubGoalPose Queue Size: 10 Shaft Length: 0.029999999329447746 Shaft Radius: 0.029999999329447746 Shape: Arrow Topic: /amr_node/sub_goal Unreliable: false Value: true - Alpha: 1 Axes Length: 0.30000001192092896 Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 252; 233; 79 Enabled: false Head Length: 0.05000000074505806 Head Radius: 0.05000000074505806 Name: ClosetPose Queue Size: 10 Shaft Length: 0.029999999329447746 Shaft Radius: 0.029999999329447746 Shape: Arrow Topic: /amr_node/closet_robot_goal Unreliable: false Value: false - Alpha: 1 Axes Length: 0.05000000074505806 Axes Radius: 0.019999999552965164 Class: rviz/Pose Color: 173; 127; 168 Enabled: false Head Length: 0.05000000074505806 Head Radius: 0.05000000074505806 Name: Look A Head Pose Queue Size: 10 Shaft Length: 0.05000000074505806 Shaft Radius: 0.029999999329447746 Shape: Axes Topic: /amr_node/lookahead_point Unreliable: false Value: false - Alpha: 1 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.029999999329447746 Class: rviz/PoseArray Color: 0; 0; 0 Enabled: true Head Length: 0.07000000029802322 Head Radius: 0.05000000074505806 Name: reached intermediated goals Queue Size: 10 Shaft Length: 0.23000000417232513 Shaft Radius: 0.029999999329447746 Shape: Axes Topic: /amr_node/reached_intermediate_goals Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 245; 121; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.019999999552965164 Length: 0.029999999329447746 Line Style: Billboards Line Width: 0.009999999776482582 Name: transform plan Offset: X: 0 Y: 0 Z: 0.5 Pose Color: 138; 226; 52 Pose Style: Axes Queue Size: 10 Radius: 0.019999999552965164 Shaft Diameter: 0.009999999776482582 Shaft Length: 0.009999999776482582 Topic: /amr_node/transformed_plan Unreliable: false Value: true - Class: rviz/Marker Enabled: false Marker Topic: /amr_node/PredictiveTrajectory/cost_left_goals Name: L Namespaces: {} Queue Size: 100 Value: false - Class: rviz/Marker Enabled: false Marker Topic: /amr_node/PredictiveTrajectory/cost_right_goals Name: R Namespaces: {} Queue Size: 100 Value: false Enabled: true Name: Trajectory Enabled: true Name: Local Map - Alpha: 1 Axes Length: 0.05000000074505806 Axes Radius: 0.014999999664723873 Class: rviz/Pose Color: 46; 52; 54 Enabled: true Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Name: Pose Queue Size: 10 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Shape: Axes Topic: /amr_node/current_goal Unreliable: false Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true 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 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/Measure - Class: rviz/PublishPoint Single click: true Topic: clicked_point Value: true Views: Current: Angle: -3.135005474090576 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Scale: -168.75274658203125 Target Frame: base_link X: -0.49439820647239685 Y: 0.196189746260643 Saved: - Angle: -34.55989074707031 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: TopDownOrtho Near Clip Distance: 0.009999999776482582 Scale: -132.97349548339844 Target Frame: base_link X: 34.338645935058594 Y: 35.28913879394531 Window Geometry: Displays: collapsed: false Height: 573 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd00000004000000000000024f000001e3fc0200000008fb000000100044006900730070006c006100790073010000003d000001e3000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000001e0000001e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1077 X: 0 Y: 0