wheel odometry rviz config improvement

I changed the rviz configuration file for
wheel_odometry_test.launch to avoid a
point cloud visualization issue.

stretch_core/rviz/wheel_odometry_test.rviz

@@ -4,11 +4,10 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
         - /Status1
         - /Odometry1/Shape1
       Splitter Ratio: 0.5
-    Tree Height: 728
+    Tree Height: 719
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -53,7 +52,7 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 0.5
+    - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
       Enabled: true
@@ -252,24 +251,22 @@ Visualization Manager:
         Value: true
       Axis: Z
       Channel Name: intensity
-      Class: rviz/LaserScan
+      Class: rviz/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: Intensity
+      Color Transformer: RGB8
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 47
       Min Color: 0; 0; 0
-      Min Intensity: 47
-      Name: LaserScan
+      Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
       Style: Flat Squares
-      Topic: /scan
+      Topic: /camera/depth/color/points
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -282,28 +279,26 @@ Visualization Manager:
         Value: true
       Axis: Z
       Channel Name: intensity
-      Class: rviz/PointCloud2
+      Class: rviz/LaserScan
       Color: 255; 255; 255
-      Color Transformer: RGB8
+      Color Transformer: Intensity
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
+      Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
-      Size (Pixels): 4
-      Size (m): 0.004000000189989805
-      Style: Points
-      Topic: /camera/depth/color/points
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Angle Tolerance: 0.10000000149011612
       Class: rviz/Odometry
       Covariance:
@@ -325,6 +320,7 @@ Visualization Manager:
       Keep: 10
       Name: Odometry
       Position Tolerance: 0.10000000149011612
+      Queue Size: 10
       Shape:
         Alpha: 1
         Axes Length: 1
@@ -366,33 +362,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.12781023979187
+      Distance: 3.5385537147521973
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.21425360441207886
-        Y: -0.133222758769989
-        Z: 0.6445393562316895
+        X: 0.190033957362175
+        Y: -0.3485092520713806
+        Z: 0.6963028311729431
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6047974228858948
+      Pitch: 0.3097976744174957
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.3881237208843231
+      Yaw: 1.8081248998641968
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001b500000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005820000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b50000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000057d0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -401,6 +397,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1853
-  X: 67
+  Width: 1848
+  X: 72
   Y: 27