From 10d4129b9c128d6fc1a4cc84b6ef076ae8533473 Mon Sep 17 00:00:00 2001 From: Charlie Kemp Date: Wed, 2 Jun 2021 10:04:53 -0400 Subject: [PATCH] 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 | 58 ++++++++++------------ 1 file changed, 27 insertions(+), 31 deletions(-) diff --git a/stretch_core/rviz/wheel_odometry_test.rviz b/stretch_core/rviz/wheel_odometry_test.rviz index cfaaacc..2293c62 100644 --- a/stretch_core/rviz/wheel_odometry_test.rviz +++ b/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: 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: - 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