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youbot.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /btt1
- /btt1/Perception1/perception_markers1/Namespaces1
- /btt1/New_Perception1/rgb_labels1/Namespaces1
- /btt1/Navigation1/nav goals1/Namespaces1
- /btt1/direct_base_ctrl1/base_link_as_pose1
Splitter Ratio: 0.524050653
Tree Height: 500
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: raw_image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.400000006
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.5
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
adapter_plate_arm_root_link:
Alpha: 1
Show Axes: false
Show Trail: false
adapter_plate_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_cam3d_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
arm_cam3d_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
arm_cam3d_laser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
arm_cam3d_laser_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
arm_cam3d_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_cam3d_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
arm_cam3d_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
arm_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_laser_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_laser_rear_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_link_bl:
Alpha: 1
Show Axes: false
Show Trail: false
caster_link_br:
Alpha: 1
Show Axes: false
Show Trail: false
caster_link_fl:
Alpha: 1
Show Axes: false
Show Trail: false
caster_link_fr:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_bracket_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_bracket_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_finger_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_finger_mount_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_finger_mount_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_finger_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_motor_left_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_motor_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_motor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_motor_right_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_motor_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_platform_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_platform_fence_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_link_bl:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_link_br:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_link_fl:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_link_fr:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz/Group
Displays:
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: raw_color_pcl
Position Transformer: XYZ
Queue Size: 10
Selectable: false
Size (Pixels): 3
Size (m): 0.0199999996
Style: Points
Topic: /arm_cam3d/depth_registered/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
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: tabletop_clusters
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /mcr_perception/scene_segmentation/tabletop_clusters
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /mcr_perception/scene_segmentation/bounding_boxes
Name: perception_markers
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: passthrough_x
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /mcr_perception/passthrough_x/output
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /mcr_perception/scene_segmentation/labels
Name: pcl_labels
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 0.300000012
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 170; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: tabletop_accum
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Spheres
Topic: /mcr_perception/scene_segmentation_node/tabletop_clusters
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic: /mcr_perception/convex_hull/output_polygon
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /arm_cam3d/rgb/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: barrier_scan
Position Transformer: ""
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /barrier_tape/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: cloud_accumulator
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Boxes
Topic: /mcr_perception/scene_segmentation/output
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Arrow Length: 0.100000001
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: DetectedCavities
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /mcr_perception/cavity_finder/output/pose
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /mcr_perception/cavity_finder/output/rgb_debug_image
Max Value: 1
Median window: 5
Min Value: 0
Name: cavity_debug
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: detectedobjects
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /mcr_perception/multimodal_object_identification/output/pose
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
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: mm_pointcloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /mcr_perception/multimodal_object_identification/output/pointclouds_combined
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
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: mm_platform
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /mcr_perception/multimodal_object_identification/output/platform_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /mcr_perception/multimodal_object_identification/output/rgb_debug_image
Max Value: 1
Median window: 5
Min Value: 0
Name: mm_rgb_debug
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
Enabled: false
Name: Perception
- Class: rviz/Group
Displays:
- Class: rviz/Image
Enabled: false
Image Topic: /arm_cam3d/rgb/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: raw_image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image
Max Value: 1
Median window: 5
Min Value: 0
Name: squeezeDet_debug
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: raw_pointcloud2
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