git commit -m "first commit"

mir_robot/mir_navigation/rviz/navigation.rviz

@@ -0,0 +1,784 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 81
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Grid1/Offset1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Global Map1
+        - /Global Map1/Costmap1
+        - /Global Map1/Full Plan1
+        - /Local Map1
+        - /Local Map1/DWB Markers1/Namespaces1
+      Splitter Ratio: 0.42881646752357483
+    Tree Height: 641
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /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: 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: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 50
+      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
+        back_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        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
+        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_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        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
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        surface:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        us_1_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        us_2_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      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_laser_link:
+          Value: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        bl_caster_rotation_link:
+          Value: true
+        bl_caster_wheel_link:
+          Value: true
+        br_caster_rotation_link:
+          Value: true
+        br_caster_wheel_link:
+          Value: true
+        fl_caster_rotation_link:
+          Value: true
+        fl_caster_wheel_link:
+          Value: true
+        fr_caster_rotation_link:
+          Value: true
+        fr_caster_wheel_link:
+          Value: true
+        front_laser_link:
+          Value: true
+        imu_frame:
+          Value: true
+        imu_link:
+          Value: true
+        left_wheel_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        right_wheel_link:
+          Value: true
+        surface:
+          Value: true
+        us_1_frame:
+          Value: true
+        us_2_frame:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                back_laser_link:
+                  {}
+                bl_caster_rotation_link:
+                  bl_caster_wheel_link:
+                    {}
+                br_caster_rotation_link:
+                  br_caster_wheel_link:
+                    {}
+                fl_caster_rotation_link:
+                  fl_caster_wheel_link:
+                    {}
+                fr_caster_rotation_link:
+                  fr_caster_wheel_link:
+                    {}
+                front_laser_link:
+                  {}
+                imu_link:
+                  imu_frame:
+                    {}
+                left_wheel_link:
+                  {}
+                right_wheel_link:
+                  {}
+                surface:
+                  {}
+                us_1_frame:
+                  {}
+                us_2_frame:
+                  {}
+      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: 239; 41; 41
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.20000000298023224
+      Style: Points
+      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; 0; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: Bumper Hit
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07999999821186066
+      Style: Spheres
+      Topic: mobile_base/sensors/bumper_pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.699999988079071
+          Class: rviz/Map
+          Color Scheme: costmap
+          Draw Behind: true
+          Enabled: true
+          Name: Costmap
+          Topic: /move_base_node/global_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 252; 175; 62
+          Enabled: false
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Billboards
+          Line Width: 0.029999999329447746
+          Name: Global Plan (DWB)
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: /move_base_node/DWBLocalPlanner/global_plan
+          Unreliable: false
+          Value: false
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 239; 41; 41
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Billboards
+          Line Width: 0.029999999329447746
+          Name: Full Plan
+          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: /move_base_node/SBPLLatticePlanner/plan
+          Unreliable: true
+          Value: true
+        - Alpha: 1
+          Class: rviz/Polygon
+          Color: 0; 12; 255
+          Enabled: false
+          Name: Footprint
+          Queue Size: 10
+          Topic: move_base_node/global_costmap/footprint
+          Unreliable: true
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /move_base_node/SBPLLatticePlanner/footprint_markers
+          Name: Marker
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+      Enabled: true
+      Name: Global Map
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.699999988079071
+          Class: rviz/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: Costmap
+          Topic: move_base_node/local_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Class: rviz/GridCells
+          Color: 25; 255; 0
+          Enabled: false
+          Name: Costmap (MiR)
+          Queue Size: 10
+          Topic: move_base_node/local_costmap/obstacles
+          Unreliable: false
+          Value: false
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 0; 12; 255
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.20000000298023224
+          Line Style: Lines
+          Line Width: 0.05000000074505806
+          Name: Local Plan (DWB)
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: Axes
+          Queue Size: 10
+          Radius: 0.019999999552965164
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: move_base_node/DWBLocalPlanner/local_plan
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 25; 0
+          Enabled: false
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Billboards
+          Line Width: 0.029999999329447746
+          Name: TransformedToLocalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: /move_base_node/DWBLocalPlanner/transformed_global_plan
+          Unreliable: false
+          Value: false
+        - Alpha: 1
+          Class: rviz/Polygon
+          Color: 204; 0; 0
+          Enabled: true
+          Name: Footprint
+          Queue Size: 10
+          Topic: move_base_node/local_costmap/footprint
+          Unreliable: false
+          Value: true
+        - Alpha: 0.30000001192092896
+          Autocompute Intensity Bounds: false
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: total_cost
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 40
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Cost Cloud
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.03999999910593033
+          Style: Flat Squares
+          Topic: move_base_node/DWBLocalPlanner/cost_cloud
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: move_base_node/DWBLocalPlanner/markers
+          Name: DWB Markers
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+      Enabled: true
+      Name: Local Map
+    - 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/MarkerArray
+      Enabled: false
+      Marker Topic: /move_base_node/WaypointsSBPLPlanner/waypoints
+      Name: Waypoints
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Arrow Length: 2
+      Axes Length: 0.20000000298023224
+      Axes Radius: 0.019999999552965164
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: false
+      Head Length: 0.10000000149011612
+      Head Radius: 0.029999999329447746
+      Name: waypoints
+      Queue Size: 6
+      Shaft Length: 0.33000001311302185
+      Shaft Radius: 0.019999999552965164
+      Shape: Axes
+      Topic: /move_base_node/DWBLocalPlanner/PathProgress/reached_intermediate_goals
+      Unreliable: false
+      Value: false
+    - Alpha: 1
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.019999999552965164
+      Class: rviz/Pose
+      Color: 114; 159; 207
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose_closet
+      Queue Size: 10
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Axes
+      Topic: /move_base_node/DWBLocalPlanner/PathProgress/closet_robot_goal
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.019999999552965164
+      Class: rviz/Pose
+      Color: 46; 52; 54
+      Enabled: true
+      Head Length: 0.10000000149011612
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Queue Size: 10
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Axes
+      Topic: /move_base_simple/goal
+      Unreliable: true
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Directional zones
+      Topic: /direction_zones/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Forbidden zones
+      Topic: /virtual_walls/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Critical zones
+      Topic: /critical_zones/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Preferred zones
+      Topic: /preferred_zones/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Unpreferred zones
+      Topic: /unpreferred_zones/map
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+  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: false
+      Topic: clicked_point
+  Value: true
+  Views:
+    Current:
+      Angle: -3.145003080368042
+      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: -52.603572845458984
+      Target Frame: <Fixed Frame>
+      X: 8.760619163513184
+      Y: 10.58740234375
+    Saved:
+      - Angle: -0.004999996162950993
+        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: 23.103717803955078
+        Target Frame: <Fixed Frame>
+        X: 17.860042572021484
+        Y: 15.485589981079102
+      - Angle: -0.004999996162950993
+        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: 23.103717803955078
+        Target Frame: <Fixed Frame>
+        X: 17.860042572021484
+        Y: 15.485589981079102
+      - Angle: -0.004999996162950993
+        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: 23.103717803955078
+        Target Frame: <Fixed Frame>
+        X: 17.860042572021484
+        Y: 15.485589981079102
+      - Angle: -0.004999996162950993
+        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: 23.103717803955078
+        Target Frame: <Fixed Frame>
+        X: 17.860042572021484
+        Y: 15.485589981079102
+      - Angle: -0.004999995231628418
+        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: 52.42099380493164
+        Target Frame: <Fixed Frame>
+        X: 0.5443607568740845
+        Y: -0.26071029901504517
+      - Angle: -1.5799980163574219
+        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: 131.970703125
+        Target Frame: <Fixed Frame>
+        X: -1.8128122091293335
+        Y: -5.972503662109375
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
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+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1077
+  X: 0
+  Y: 27