From 3775f14c4272188e55aae7c24a21f12b61a2e149 Mon Sep 17 00:00:00 2001 From: Binit Shah <64861565+hello-binit@users.noreply.github.com> Date: Thu, 17 Jun 2021 00:58:25 -0400 Subject: [PATCH] Improved mapping rviz config to hide extra info --- stretch_navigation/rviz/mapping.rviz | 80 +++++++++++++--------------- 1 file changed, 36 insertions(+), 44 deletions(-) diff --git a/stretch_navigation/rviz/mapping.rviz b/stretch_navigation/rviz/mapping.rviz index 6fd34c2..28ec34d 100644 --- a/stretch_navigation/rviz/mapping.rviz +++ b/stretch_navigation/rviz/mapping.rviz @@ -4,11 +4,9 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - - /Status1 - /Odometry1/Shape1 Splitter Ratio: 0.5 - Tree Height: 728 + Tree Height: 539 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -68,6 +66,14 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + camera_accel_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_accel_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false camera_bottom_screw_frame: Alpha: 1 Show Axes: false @@ -88,6 +94,14 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + camera_gyro_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_gyro_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false camera_infra1_frame: Alpha: 1 Show Axes: false @@ -109,6 +123,11 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true laser: Alpha: 1 Show Axes: false @@ -164,6 +183,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false link_gripper: Alpha: 1 Show Axes: false @@ -255,9 +278,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 47 Min Color: 0; 0; 0 - Min Intensity: 47 Name: LaserScan Position Transformer: XYZ Queue Size: 10 @@ -270,36 +291,6 @@ Visualization Manager: 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: 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: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 4 - Size (m): 0.004000000189989805 - Style: Points - Topic: /camera/depth/color/points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - Angle Tolerance: 0.10000000149011612 Class: rviz/Odometry Covariance: @@ -321,6 +312,7 @@ Visualization Manager: Keep: 10 Name: Odometry Position Tolerance: 0.10000000149011612 + Queue Size: 10 Shape: Alpha: 1 Axes Length: 1 @@ -378,27 +370,27 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: 0.5320411324501038 - Y: -1.01706862449646 - Z: 0.858795702457428 + X: 0.2743038535118103 + Y: 0.44053205847740173 + Z: 0.8585693836212158 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.61979740858078 + Pitch: 1.5697963237762451 Target Frame: - Value: Orbit (rviz) - Yaw: 6.161308288574219 + Yaw: 3.2263076305389404 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1025 + Height: 836 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001b500000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c50000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001b5000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000485000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -407,6 +399,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1920 + Width: 1600 X: 0 Y: 27