From 601a062223931d0d847dbf0ae77c1ea3a841aba2 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 16 Feb 2022 16:49:00 +0900
Subject: [PATCH] [jsk_spot_startup]visualize VLP16 point cloud

---
 .../jsk_spot_startup/config/spot.rviz         | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/jsk_spot_robot/jsk_spot_startup/config/spot.rviz b/jsk_spot_robot/jsk_spot_startup/config/spot.rviz
index c732bf2766..c1091251c7 100644
--- a/jsk_spot_robot/jsk_spot_startup/config/spot.rviz
+++ b/jsk_spot_robot/jsk_spot_startup/config/spot.rviz
@@ -351,6 +351,34 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: DepthClouds
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: -7.450169563293457
+        Min Value: -10.569180488586426
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: VLP16PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /spot/lidar/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
     - Class: jsk_rviz_plugin/OverlayImage
       Enabled: true
       Name: PanoramaImage