742 lines
22 KiB
YAML
742 lines
22 KiB
YAML
Panels:
|
|
- Class: rviz/Displays
|
|
Help Height: 0
|
|
Name: Displays
|
|
Property Tree Widget:
|
|
Expanded:
|
|
- /Global Options1
|
|
- /Grid1/Offset1
|
|
- /TF1/Frames1
|
|
Splitter Ratio: 0.37295082211494446
|
|
Tree Height: 682
|
|
- 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: true
|
|
Links:
|
|
All Links Enabled: true
|
|
Expand Joint Details: false
|
|
Expand Link Details: false
|
|
Expand Tree: false
|
|
Link Tree Style: Links in Alphabetic Order
|
|
back_nanoscan3_base_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
back_nanoscan3_sensor_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
base_footprint:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
base_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
bl_caster_rotation_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
bl_caster_wheel_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
br_caster_rotation_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
br_caster_wheel_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
camera_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
fl_caster_rotation_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
fl_caster_wheel_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
fr_caster_rotation_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
fr_caster_wheel_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
front_nanoscan3_base_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
front_nanoscan3_sensor_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
imu_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
imu_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
left_wheel_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
lifting_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
right_wheel_link:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
surface:
|
|
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
|
|
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: /local_costmap/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
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Axes Length: 0.30000001192092896
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Axes Radius: 0.029999999329447746
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Class: rviz/PoseArray
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Color: 0; 0; 0
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Enabled: true
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Head Length: 0.07000000029802322
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Head Radius: 0.05000000074505806
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Name: reached intermediated goals
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Queue Size: 10
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Shaft Length: 0.23000000417232513
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Shaft Radius: 0.029999999329447746
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Shape: Axes
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Topic: /amr_node/reached_intermediate_goals
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 245; 121; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.019999999552965164
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Length: 0.029999999329447746
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Line Style: Billboards
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Line Width: 0.009999999776482582
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Name: transform plan
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Offset:
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X: 0
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Y: 0
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Z: 0.5
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Pose Color: 138; 226; 52
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Pose Style: Axes
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Queue Size: 10
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Radius: 0.019999999552965164
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Shaft Diameter: 0.009999999776482582
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Shaft Length: 0.009999999776482582
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Topic: /amr_node/transformed_plan
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Unreliable: false
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Value: true
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- Class: rviz/Marker
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Enabled: false
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Marker Topic: /amr_node/PredictiveTrajectory/cost_left_goals
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Name: L
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Namespaces:
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{}
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Queue Size: 100
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Value: false
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Enabled: false
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Marker Topic: /amr_node/PredictiveTrajectory/cost_right_goals
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Name: R
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Namespaces:
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{}
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Queue Size: 100
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Value: false
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Enabled: true
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Name: Trajectory
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Enabled: true
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Name: Local Map
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Axes Length: 0.05000000074505806
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Axes Radius: 0.014999999664723873
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Class: rviz/Pose
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Color: 46; 52; 54
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: Pose
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Queue Size: 10
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Axes
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Topic: /amr_node/current_goal
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Unreliable: false
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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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Default Light: true
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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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Hide Inactive Objects: true
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Theta std deviation: 0.2617993950843811
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Topic: initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: move_base_simple/goal
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- Class: rviz/Measure
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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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Angle: -3.150002956390381
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Class: rviz/TopDownOrtho
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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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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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Scale: -62.776824951171875
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Target Frame: base_link
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X: 1.189023494720459
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Y: 0.44669991731643677
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Saved:
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- Angle: -34.55989074707031
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Class: rviz/TopDownOrtho
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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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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Invert Z Axis: false
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Name: TopDownOrtho
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Near Clip Distance: 0.009999999776482582
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Scale: -132.97349548339844
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Target Frame: base_link
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X: 34.338645935058594
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Y: 35.28913879394531
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Window Geometry:
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Displays:
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collapsed: false
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Height: 833
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Hide Left Dock: false
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Hide Right Dock: false
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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: 1077
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X: 0
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Y: 0
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