From ef39f5e9681ee0a9d0991f2dab74c26d39e2bd79 Mon Sep 17 00:00:00 2001 From: hakuturu583 Date: Sun, 28 Apr 2024 02:17:33 +0900 Subject: [PATCH] modify rviz settings Signed-off-by: hakuturu583 --- config/vrx.rviz | 238 +++++++++++++++++++----------------------------- 1 file changed, 93 insertions(+), 145 deletions(-) diff --git a/config/vrx.rviz b/config/vrx.rviz index bd577e9..efd84a6 100644 --- a/config/vrx.rviz +++ b/config/vrx.rviz @@ -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 @@ -43,147 +40,22 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 10 - Reference 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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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: @@ -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