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modify rviz settings
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Signed-off-by: hakuturu583 <[email protected]>
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@hakuturu583
hakuturu583 committed Apr 27, 2024
1 parent ece9386 commit ef39f5e
Showing 1 changed file with 93 additions and 145 deletions.
238 changes: 93 additions & 145 deletions config/vrx.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -9,10 +9,7 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /Sensing1/lidar1
- /Perception1/GridMap1
Splitter Ratio: 0.5
Tree Height: 1412
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -43,147 +40,22 @@ Visualization Manager:
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Reference Frame: wamv/wamv/base_link
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
map:
Value: true
wamv/wamv/ball_shooter_base_link:
Value: false
wamv/wamv/ball_shooter_camera_link:
Value: false
wamv/wamv/ball_shooter_camera_link_optical:
Value: false
wamv/wamv/ball_shooter_camera_post_arm_link:
Value: false
wamv/wamv/ball_shooter_camera_post_link:
Value: false
wamv/wamv/ball_shooter_launcher_link:
Value: false
wamv/wamv/base_link:
Value: true
wamv/wamv/base_link/ball_shooter_camera_sensor:
Value: false
wamv/wamv/base_link/contact_sensor:
Value: false
wamv/wamv/base_link/front_left_camera_sensor:
Value: false
wamv/wamv/base_link/front_right_camera_sensor:
Value: false
wamv/wamv/base_link/lidar_wamv_sensor:
Value: false
wamv/wamv/cpu_cases_link:
Value: false
wamv/wamv/front_left_camera_link:
Value: false
wamv/wamv/front_left_camera_link_optical:
Value: false
wamv/wamv/front_left_camera_post_arm_link:
Value: false
wamv/wamv/front_left_camera_post_link:
Value: false
wamv/wamv/front_right_camera_link:
Value: false
wamv/wamv/front_right_camera_link_optical:
Value: false
wamv/wamv/front_right_camera_post_arm_link:
Value: false
wamv/wamv/front_right_camera_post_link:
Value: false
wamv/wamv/gps_wamv_link:
Value: false
wamv/wamv/gps_wamv_link/navsat:
Value: false
wamv/wamv/imu_wamv_link:
Value: false
wamv/wamv/imu_wamv_link/imu_wamv_sensor:
Value: false
wamv/wamv/left_battery_link:
Value: false
wamv/wamv/left_engine_link:
Value: false
wamv/wamv/left_propeller_link:
Value: false
wamv/wamv/lidar_wamv_link:
Value: false
wamv/wamv/lidar_wamv_post_arm_link:
Value: false
wamv/wamv/lidar_wamv_post_link:
Value: false
wamv/wamv/reciever:
Value: false
wamv/wamv/right_battery_link:
Value: false
wamv/wamv/right_engine_link:
Value: false
wamv/wamv/right_propeller_link:
Value: false
Marker Scale: 5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
map:
wamv/wamv/base_link:
wamv/wamv/ball_shooter_base_link:
wamv/wamv/ball_shooter_launcher_link:
{}
wamv/wamv/ball_shooter_camera_post_link:
wamv/wamv/ball_shooter_camera_post_arm_link:
wamv/wamv/ball_shooter_camera_link:
wamv/wamv/ball_shooter_camera_link_optical:
{}
wamv/wamv/base_link/ball_shooter_camera_sensor:
{}
wamv/wamv/base_link/contact_sensor:
{}
wamv/wamv/base_link/front_left_camera_sensor:
{}
wamv/wamv/base_link/front_right_camera_sensor:
{}
wamv/wamv/base_link/lidar_wamv_sensor:
{}
wamv/wamv/cpu_cases_link:
{}
wamv/wamv/front_left_camera_post_link:
wamv/wamv/front_left_camera_post_arm_link:
wamv/wamv/front_left_camera_link:
wamv/wamv/front_left_camera_link_optical:
{}
wamv/wamv/front_right_camera_post_link:
wamv/wamv/front_right_camera_post_arm_link:
wamv/wamv/front_right_camera_link:
wamv/wamv/front_right_camera_link_optical:
{}
wamv/wamv/gps_wamv_link:
wamv/wamv/gps_wamv_link/navsat:
{}
wamv/wamv/imu_wamv_link:
wamv/wamv/imu_wamv_link/imu_wamv_sensor:
{}
wamv/wamv/left_battery_link:
{}
wamv/wamv/left_engine_link:
wamv/wamv/left_propeller_link:
{}
wamv/wamv/lidar_wamv_post_link:
wamv/wamv/lidar_wamv_post_arm_link:
wamv/wamv/lidar_wamv_link:
{}
wamv/wamv/reciever:
{}
wamv/wamv/right_battery_link:
{}
wamv/wamv/right_engine_link:
wamv/wamv/right_propeller_link:
{}
{}
Update Interval: 0
Value: true
Value: false
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Expand Down Expand Up @@ -219,7 +91,6 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/ball_shooter_camera_post_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -253,7 +124,6 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/front_left_camera_post_link:
Alpha: 1
Show Axes: false
Expand All @@ -272,7 +142,6 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/front_right_camera_post_link:
Alpha: 1
Show Axes: false
Expand All @@ -298,22 +167,20 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
wamv/left_propeller_link:
wamv/left_lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/lidar_wamv_link:
wamv/left_lidar_post_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/lidar_wamv_post_arm_link:
wamv/left_lidar_post_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/lidar_wamv_post_link:
wamv/left_propeller_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand All @@ -333,6 +200,19 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
wamv/right_lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
wamv/right_lidar_post_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
wamv/right_lidar_post_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wamv/right_propeller_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -363,10 +243,10 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1000.0152587890625
Max Intensity: 999.9847412109375
Min Color: 0; 0; 0
Min Intensity: 0
Name: lidar
Name: Right Lidar
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Expand All @@ -378,11 +258,45 @@ Visualization Manager:
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /wamv/sensors/lidars/lidar_wamv_sensor/points
Value: /wamv/sensors/lidars/right_lidar_sensor/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
- Alpha: 0.800000011920929
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 26.479372024536133
Min Value: 0.19844436645507812
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 138; 226; 52
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999.9847412109375
Min Color: 0; 0; 0
Min Intensity: 0
Name: Left Lidar
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Spheres
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /wamv/sensors/lidars/left_lidar_sensor/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Sensing
- Class: rviz_common/Group
Displays:
Expand Down Expand Up @@ -470,6 +384,40 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /perception/task_objects/marker
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_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Points Concat
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/points_concatenate_node/output
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Perception
- Class: rviz_common/Group
Expand Down

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