415 lines
12 KiB
YAML
Executable File
415 lines
12 KiB
YAML
Executable File
Panels:
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- Class: rviz/Displays
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Help Height: 138
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Path1
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- /TrackedPersons1
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- /Map5
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Splitter Ratio: 0.5
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Tree Height: 1520
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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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Experimental: false
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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: 10
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Reference Frame: <Fixed Frame>
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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: true
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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: 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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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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base_scan:
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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_depth_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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camera_depth_optical_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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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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camera_rgb_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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camera_rgb_optical_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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caster_back_left_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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caster_back_right_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_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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wheel_left_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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wheel_right_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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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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- 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: 255; 255; 255
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Color Transformer: Intensity
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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): 3
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Size (m): 0.10000000149011612
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Style: Squares
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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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Buffer Length: 1
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Class: rviz/Path
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Color: 32; 74; 135
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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: Lines
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Line Width: 0.029999999329447746
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Name: Path
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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/GraphPlanner/plan
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Unreliable: false
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Value: true
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- Alpha: 0.8999999761581421
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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: false
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Name: Map
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Topic: /move_base/GraphPlanner/expand
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Alpha: 0.20000000298023224
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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: false
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Name: Map
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Topic: /move_base/local_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Alpha: 0.20000000298023224
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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: false
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Name: Map
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Topic: /move_base/global_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /move_base/SamplePlanner/tree
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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: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 255; 25; 0
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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: 0.5
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /target_pose
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 0; 255; 0
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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: 0.5
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /current_pose
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 32; 74; 135
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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: Arrow
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Topic: /human_1/pose
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 32; 74; 135
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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: Arrow
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Topic: /human_2/pose
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Unreliable: false
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Value: true
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- Alpha: 1
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Class: spencer_tracking_rviz_plugin/TrackedPersons
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Color: 130; 130; 130
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Color map offset: 0
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Color transform: Rainbow
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Delete after no. cycles: 100
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Enabled: true
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Excluded person IDs: ""
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Font color: 255; 255; 255
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Font color style: Same color
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Font scale: 2
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History as line:
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Line width: 0.05000000074505806
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Value: true
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History size: 100
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Included person IDs: ""
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Min. history point distance: 0.4000000059604645
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Missed alpha: 0.5
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Name: TrackedPersons
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Occlusion alpha: 0.30000001192092896
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Queue Size: 10
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Render covariances:
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Line width: 0.10000000149011612
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Value: true
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Render detection IDs: false
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Render history: true
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Render person visual: true
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Render track IDs: true
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Render track state: false
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Render velocities: true
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Show DELETED tracks: false
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Show MATCHED tracks: true
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Show MISSED tracks: true
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Show OCCLUDED tracks: true
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Style:
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Line width: 0.05000000074505806
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Scaling factor: 1
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Value: Person meshes
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Topic: ped_visualization
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Unreliable: false
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Value: true
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Z offset:
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Use Z position from message: false
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Value: 0
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- Alpha: 0.30000001192092896
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: true
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Enabled: true
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Name: Map
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Topic: /move_base/global_costmap/voronoi_layer/voronoi_grid
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Unreliable: false
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Use Timestamp: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- 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
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 31.205366134643555
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: -0.006348671857267618
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Y: 0.48202550411224365
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Z: -4.073554039001465
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 1.5697963237762451
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Target Frame: <Fixed Frame>
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Yaw: 1.5549954175949097
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 2032
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000299000006e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000006e80000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000006e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000006e80000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7000000060fc0100000002fb0000000800540069006d0065010000000000000e700000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000a60000006e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 3696
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X: 144
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Y: 54
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