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default.rviz
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default.rviz
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Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
<<<<<<< HEAD
=======
- /Image1
- /LaserScan1
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
- /local cost map1/Update Topic1
- /Frontiers Local RRT1/Topic1
- /Frontiers Local RRT1/Namespaces1
Splitter Ratio: 0.5
<<<<<<< HEAD
Tree Height: 533
=======
Tree Height: 519
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
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: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
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
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
cover_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth:
Alpha: 1
Show Axes: false
Show Trail: false
fl_range:
Alpha: 1
Show Axes: false
Show Trail: false
fl_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_range:
Alpha: 1
Show Axes: false
Show Trail: false
fr_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
laser:
Alpha: 1
Show Axes: false
Show Trail: false
orbbec_astra_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rl_range:
Alpha: 1
Show Axes: false
Show Trail: false
rl_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rr_range:
Alpha: 1
Show Axes: false
Show Trail: false
rr_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
slamtec_rplidar_a2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/image
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_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
<<<<<<< HEAD
Enabled: false
=======
Enabled: true
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /RGBD/debug_image
<<<<<<< HEAD
Value: false
=======
Value: true
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
- 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: Intensity
Decay Time: 0
<<<<<<< HEAD
Enabled: true
=======
Enabled: false
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /RGBD/map_points
Use Fixed Frame: true
Use rainbow: true
<<<<<<< HEAD
Value: true
- Class: rviz_default_plugins/Image
Enabled: false
=======
Value: false
- Class: rviz_default_plugins/Image
Enabled: true
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Max Value: 1
Median window: 5
Min Value: 0
Name: SLAM Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /RGBD/debug_image
<<<<<<< HEAD
Value: false
=======
Value: true
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
<<<<<<< HEAD
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Projected_map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /GridMapper_node/projected_map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /GridMapper_node/projected_map_updates
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Rectified_map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /GridMapper_node/rectified_map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /GridMapper_node/rectified_map_updates
Use Timestamp: false
Value: false
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
=======
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Color Scheme: costmap
Draw Behind: false
Enabled: false
Name: local cost map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: false
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: raw
Draw Behind: false
Enabled: false
Name: global cost map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 0; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Compute Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /received_global_plan
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Centroids
Namespaces:
filtered_frontiers: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /filter/centroids
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Frontiers
Namespaces:
raw_frontiers: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /filter/frontiers
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Frontiers OpenCV
Namespaces:
markers: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /opencv_shapes
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Frontiers Global RRT
Namespaces:
markers: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_detector_shapes
Value: true
- Class: rviz_default_plugins/Marker
Enabled: true
Name: Frontiers Local RRT
Namespaces:
markers: true
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 1
History Policy: Keep All
Reliability Policy: Best Effort
Value: /local_detector_shapes
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Marker Full Graph
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /marker_G
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: hallucinated graph
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /marker_hallucinated_graph
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: hallucinated path
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /marker_hallucinated_path
Value: true
<<<<<<< HEAD
=======
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Rectified_map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /GridMapper_node/rectified_map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /GridMapper_node/rectified_map_updates
Use Timestamp: false
Value: true
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
<<<<<<< HEAD
Distance: 24.457035064697266
=======
Distance: 24.77439308166504
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
<<<<<<< HEAD
X: 1.5383381843566895
Y: 2.0618252754211426
Z: -2.7791595458984375
=======
X: 3.563958168029785
Y: -3.0119547843933105
Z: -3.2700695991516113
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
<<<<<<< HEAD
Pitch: 0.6247960329055786
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.4103775024414062
=======
Pitch: 1.1797962188720703
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.07037347555160522
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Saved: ~
Window Geometry:
Displays:
collapsed: false
<<<<<<< HEAD
Height: 752
=======
Height: 1016
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
<<<<<<< HEAD
QMainWindow State: 000000ff00000000fd00000004000000000000015600000252fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000252000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000030b0000008c0000000000000000fb0000000a0049006d0061006700650000000205000000df0000002800fffffffb000000140053004c0041004d00200049006d0061006700650100000182000000770000000000000000fb000000140053004c0041004d00200049006d0061006700650000000144000000a30000002800fffffffb0000000a0049006d00610067006500000001ed000000a20000002800ffffff000000010000010f00000269fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000269000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056a0000003efc0100000002fb0000000800540069006d006501000000000000056a000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000040e0000025200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
=======
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>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b
SLAM Image:
collapsed: false
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
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<<<<<<< HEAD
Width: 1386
X: 318
Y: 45
=======
Width: 1091
X: 70
Y: 27
>>>>>>> 57d400141e42f77ce1b9f80e2ecc10061fe5861b