644 lines
19 KiB
YAML
644 lines
19 KiB
YAML
Panels:
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- Class: rviz/Displays
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Help Height: 0
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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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- /Grid1/Offset1
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- /TF1/Frames1
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- /Local Map1
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- /Local Map1/Plan1
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Splitter Ratio: 0.37295082211494446
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Tree Height: 682
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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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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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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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Name: Time
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SyncMode: 0
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SyncSource: Back LaserScan
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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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: 0.029999999329447746
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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: 5
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Y: 5
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Z: 0
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Plane: XY
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Plane Cell Count: 100
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Reference Frame: map
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Value: true
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- Alpha: 0.4000000059604645
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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: /map
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.5
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Class: rviz/RobotModel
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Collision Enabled: true
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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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back_nanoscan3_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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back_nanoscan3_sensor_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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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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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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bl_caster_rotation_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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bl_caster_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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br_caster_rotation_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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br_caster_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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camera_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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fl_caster_rotation_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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fl_caster_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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fr_caster_rotation_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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fr_caster_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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front_nanoscan3_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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front_nanoscan3_sensor_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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imu_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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imu_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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left_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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lifting_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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right_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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surface:
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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/TF
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Enabled: true
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Filter (blacklist): ""
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Filter (whitelist): ""
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Frame Timeout: 15
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Frames:
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All Enabled: false
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back_nanoscan3_base_link:
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Value: false
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back_nanoscan3_sensor_link:
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Value: false
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base_footprint:
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Value: true
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base_link:
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Value: false
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bl_caster_rotation_link:
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Value: false
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bl_caster_wheel_link:
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Value: false
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br_caster_rotation_link:
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Value: false
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br_caster_wheel_link:
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Value: false
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camera_link:
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Value: false
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fl_caster_rotation_link:
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Value: false
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fl_caster_wheel_link:
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Value: false
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fr_caster_rotation_link:
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Value: false
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fr_caster_wheel_link:
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Value: false
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front_nanoscan3_base_link:
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Value: false
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front_nanoscan3_sensor_link:
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Value: false
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imu_frame:
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Value: false
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imu_link:
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Value: false
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left_wheel_link:
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Value: false
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lifting_link:
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Value: false
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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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right_wheel_link:
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Value: false
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surface:
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Value: false
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Marker Alpha: 1
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Marker Scale: 0.5
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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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back_nanoscan3_base_link:
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back_nanoscan3_sensor_link:
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{}
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bl_caster_rotation_link:
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bl_caster_wheel_link:
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{}
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br_caster_rotation_link:
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br_caster_wheel_link:
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{}
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camera_link:
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{}
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fl_caster_rotation_link:
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fl_caster_wheel_link:
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{}
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fr_caster_rotation_link:
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fr_caster_wheel_link:
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{}
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front_nanoscan3_base_link:
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front_nanoscan3_sensor_link:
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{}
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imu_link:
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imu_frame:
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{}
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left_wheel_link:
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{}
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lifting_link:
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surface:
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{}
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right_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: 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: rviz/LaserScan
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Color: 204; 0; 0
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Color Transformer: FlatColor
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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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Min Color: 0; 0; 0
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Name: Front 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): 6
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Size (m): 0.09000000357627869
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Style: Points
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Topic: f_scan
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Unreliable: false
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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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- 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: rviz/LaserScan
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Color: 0; 255; 0
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Color Transformer: FlatColor
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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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Min Color: 0; 0; 0
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Name: Back 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): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /b_scan
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Unreliable: false
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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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- Alpha: 1
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Arrow Length: 0.20000000298023224
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Axes Length: 0.30000001192092896
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Axes Radius: 0.009999999776482582
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Class: rviz/PoseArray
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Color: 0; 192; 0
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Enabled: false
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Head Length: 0.07000000029802322
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Head Radius: 0.029999999329447746
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Name: Amcl Particle Swarm
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Queue Size: 10
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Shaft Length: 0.23000000417232513
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Shaft Radius: 0.009999999776482582
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Shape: Arrow (Flat)
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Topic: particlecloud
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Unreliable: false
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Value: false
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- Class: rviz/Group
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Displays:
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- Alpha: 0.5
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: true
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Enabled: true
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Name: Costmap
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Topic: /global_costmap/costmap
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Unreliable: false
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Use Timestamp: 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: 25; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.20000000298023224
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Line Style: Lines
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Line Width: 0.05000000074505806
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Name: Plan
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Offset:
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X: 0
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Y: 0
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Z: 0.8999999761581421
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Pose Color: 255; 85; 255
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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: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /global_costmap/costmap/plan
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Unreliable: false
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Value: true
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- Alpha: 1
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Class: rviz/Polygon
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Color: 255; 0; 0
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Enabled: true
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Name: Footprint
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Queue Size: 10
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Topic: /global_costmap/costmap/footprint
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Unreliable: false
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Value: true
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Enabled: true
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Name: Global Map
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- Class: rviz/Group
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Displays:
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- Alpha: 0.699999988079071
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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: Costmap
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Topic: /local_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Class: rviz/Polygon
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Color: 25; 255; 0
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Enabled: true
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Name: Footprint
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Queue Size: 10
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Topic: /local_costmap/costmap/footprint
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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: 239; 41; 41
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.029999999329447746
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Line Style: Billboards
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Line Width: 0.029999999329447746
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Name: Plan
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Offset:
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X: 0
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Y: 0
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Z: 0.6000000238418579
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Pose Color: 255; 85; 255
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Pose Style: Axes
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Queue Size: 10
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Radius: 0.009999999776482582
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /local_costmap/costmap/plan
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Unreliable: false
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Value: true
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Axes Length: 0.10000000149011612
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Axes Radius: 0.029999999329447746
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Class: rviz/Pose
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Color: 0; 0; 0
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Enabled: true
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Head Length: 0.05000000074505806
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Head Radius: 0.05000000074505806
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Name: SubGoalPose
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Queue Size: 10
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Shaft Length: 0.029999999329447746
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Shaft Radius: 0.029999999329447746
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Shape: Arrow
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Topic: /amr_node/sub_goal
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 0.30000001192092896
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 252; 233; 79
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Enabled: false
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Head Length: 0.05000000074505806
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Head Radius: 0.05000000074505806
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Name: ClosetPose
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Queue Size: 10
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Shaft Length: 0.029999999329447746
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Shaft Radius: 0.029999999329447746
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Shape: Arrow
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Topic: /amr_node/closet_robot_goal
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Unreliable: false
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Value: false
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- Alpha: 1
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Axes Length: 0.05000000074505806
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Axes Radius: 0.019999999552965164
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Class: rviz/Pose
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Color: 173; 127; 168
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Enabled: false
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Head Length: 0.05000000074505806
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Head Radius: 0.05000000074505806
|
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Name: Look A Head Pose
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Queue Size: 10
|
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Shaft Length: 0.05000000074505806
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Shaft Radius: 0.029999999329447746
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Shape: Axes
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Topic: /amr_node/lookahead_point
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Unreliable: false
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|
Value: false
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- Alpha: 1
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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
|
|
Line Style: Billboards
|
|
Line Width: 0.009999999776482582
|
|
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
|
|
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
|
|
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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- Class: rviz/Marker
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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
|
|
Enabled: true
|
|
Name: Local Map
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- Alpha: 1
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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
|
|
Value: true
|
|
Enabled: true
|
|
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
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz/MoveCamera
|
|
- Class: rviz/Interact
|
|
Hide Inactive Objects: true
|
|
- Class: rviz/Select
|
|
- Class: rviz/SetInitialPose
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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
|
|
Topic: move_base_simple/goal
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|
- Class: rviz/Measure
|
|
- Class: rviz/PublishPoint
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|
Single click: true
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|
Topic: clicked_point
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Angle: -3.150002956390381
|
|
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
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|
Scale: -191.32327270507812
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|
Target Frame: base_link
|
|
X: 0.8287617564201355
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|
Y: 0.9812669157981873
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|
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: 833
|
|
Hide Left Dock: false
|
|
Hide Right Dock: false
|
|
QMainWindow State: 000000ff00000000fd0000000400000000000001fa000002e7fc0200000008fb000000100044006900730070006c006100790073010000003d000002e7000000c900fffffffb0000001200530065006c0065006300740069006f006e000000003d000002590000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000003d0000039e0000000000000000fb0000000c00430061006d006500720061020000007c0000013600000280000001e0fb0000000c00430061006d0065007200610200000644000000b7000002c1000002f9000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000041800000168fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007520000003efc0100000002fb0000000800540069006d00650000000000000007520000041800fffffffb0000000800540069006d0065010000000000000450000000000000000000000235000002e700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: false
|
|
Width: 1077
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|
X: 0
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|
Y: 0
|