785 lines
22 KiB
YAML
Executable File
785 lines
22 KiB
YAML
Executable File
Panels:
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- Class: rviz/Displays
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Help Height: 81
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Grid1/Offset1
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- /TF1/Frames1
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- /TF1/Tree1
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- /Global Map1
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- /Global Map1/Costmap1
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- /Global Map1/Full Plan1
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- /Local Map1
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- /Local Map1/DWB Markers1/Namespaces1
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Splitter Ratio: 0.42881646752357483
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Tree Height: 641
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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 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: 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: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 50
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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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_laser_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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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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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_laser_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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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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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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us_1_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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us_2_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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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_laser_link:
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Value: true
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base_footprint:
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Value: true
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base_link:
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Value: true
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bl_caster_rotation_link:
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Value: true
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bl_caster_wheel_link:
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Value: true
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br_caster_rotation_link:
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Value: true
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br_caster_wheel_link:
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Value: true
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fl_caster_rotation_link:
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Value: true
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fl_caster_wheel_link:
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Value: true
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fr_caster_rotation_link:
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Value: true
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fr_caster_wheel_link:
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Value: true
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front_laser_link:
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Value: true
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imu_frame:
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Value: true
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imu_link:
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Value: true
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left_wheel_link:
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Value: true
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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: true
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surface:
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Value: true
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us_1_frame:
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Value: true
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us_2_frame:
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Value: true
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Marker Alpha: 1
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Marker Scale: 1
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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: false
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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_laser_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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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_laser_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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right_wheel_link:
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{}
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surface:
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{}
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us_1_frame:
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{}
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us_2_frame:
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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: 239; 41; 41
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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: 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): 5
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Size (m): 0.20000000298023224
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Style: Points
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Topic: 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/PointCloud2
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Color: 255; 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: Bumper Hit
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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): 0.07999999821186066
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Style: Spheres
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Topic: mobile_base/sensors/bumper_pointcloud
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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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- 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: 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: /move_base_node/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: 252; 175; 62
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Enabled: false
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Billboards
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Line Width: 0.029999999329447746
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Name: Global Plan (DWB)
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Queue Size: 10
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base_node/DWBLocalPlanner/global_plan
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Unreliable: false
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Value: false
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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: 0.30000001192092896
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Line Style: Billboards
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Line Width: 0.029999999329447746
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Name: Full Plan
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Offset:
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X: 0
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Y: 0
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Z: 0
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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: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base_node/SBPLLatticePlanner/plan
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Unreliable: true
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Value: true
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- Alpha: 1
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Class: rviz/Polygon
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Color: 0; 12; 255
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Enabled: false
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Name: Footprint
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Queue Size: 10
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Topic: move_base_node/global_costmap/footprint
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Unreliable: true
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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: /move_base_node/SBPLLatticePlanner/footprint_markers
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Name: Marker
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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: 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: costmap
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Draw Behind: false
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Enabled: true
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Name: Costmap
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Topic: move_base_node/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/GridCells
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Color: 25; 255; 0
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Enabled: false
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Name: Costmap (MiR)
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Queue Size: 10
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Topic: move_base_node/local_costmap/obstacles
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Unreliable: false
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Value: false
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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: 0; 12; 255
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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: Local Plan (DWB)
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Offset:
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X: 0
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Y: 0
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Z: 0
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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: move_base_node/DWBLocalPlanner/local_plan
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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: 255; 25; 0
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Enabled: false
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Billboards
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Line Width: 0.029999999329447746
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Name: TransformedToLocalPath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Queue Size: 10
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base_node/DWBLocalPlanner/transformed_global_plan
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Unreliable: false
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Value: false
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- Alpha: 1
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Class: rviz/Polygon
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Color: 204; 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: move_base_node/local_costmap/footprint
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Unreliable: false
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Value: true
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- Alpha: 0.30000001192092896
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Autocompute Intensity Bounds: false
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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: total_cost
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 40
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Cost Cloud
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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): 0.03999999910593033
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Style: Flat Squares
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Topic: move_base_node/DWBLocalPlanner/cost_cloud
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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: false
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: move_base_node/DWBLocalPlanner/markers
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Name: DWB Markers
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|
Namespaces:
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{}
|
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Queue Size: 100
|
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Value: true
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|
Enabled: true
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|
Name: Local Map
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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
|
|
Name: Amcl Particle Swarm
|
|
Queue Size: 10
|
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Shaft Length: 0.23000000417232513
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Shaft Radius: 0.009999999776482582
|
|
Shape: Arrow (Flat)
|
|
Topic: particlecloud
|
|
Unreliable: false
|
|
Value: false
|
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- Class: rviz/MarkerArray
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Enabled: false
|
|
Marker Topic: /move_base_node/WaypointsSBPLPlanner/waypoints
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|
Name: Waypoints
|
|
Namespaces:
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{}
|
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Queue Size: 100
|
|
Value: false
|
|
- Alpha: 1
|
|
Arrow Length: 2
|
|
Axes Length: 0.20000000298023224
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|
Axes Radius: 0.019999999552965164
|
|
Class: rviz/PoseArray
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|
Color: 255; 25; 0
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Enabled: false
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|
Head Length: 0.10000000149011612
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Head Radius: 0.029999999329447746
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|
Name: waypoints
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Queue Size: 6
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Shaft Length: 0.33000001311302185
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Shaft Radius: 0.019999999552965164
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|
Shape: Axes
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|
Topic: /move_base_node/DWBLocalPlanner/PathProgress/reached_intermediate_goals
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|
Unreliable: false
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|
Value: false
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|
- Alpha: 1
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|
Axes Length: 0.30000001192092896
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Axes Radius: 0.019999999552965164
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|
Class: rviz/Pose
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Color: 114; 159; 207
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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_closet
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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: /move_base_node/DWBLocalPlanner/PathProgress/closet_robot_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: 0.019999999552965164
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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: 0.10000000149011612
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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: /move_base_simple/goal
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Unreliable: true
|
|
Value: true
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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
|
|
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: 0.699999988079071
|
|
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
|
|
QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000004fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000039e0000000000fffffffaffffffff0100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000ffffffff0000009d00fffffffb000000100044006900730070006c0061007900730300000431000000830000043800000311000000010000010f00000374fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000374000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000004350000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: false
|
|
Width: 1077
|
|
X: 0
|
|
Y: 27
|