Improved navigation rviz config to show path, costmap, etc

stretch_navigation/rviz/navigation.rviz

@@ -4,11 +4,9 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
         - /Odometry1/Shape1
-      Splitter Ratio: 0.5
-    Tree Height: 554
+      Splitter Ratio: 0.6117647290229797
+    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:
@@ -318,9 +309,10 @@ Visualization Manager:
           Value: true
         Value: true
       Enabled: true
-      Keep: 10
+      Keep: 30
       Name: Odometry
       Position Tolerance: 0.10000000149011612
+      Queue Size: 30
       Shape:
         Alpha: 1
         Axes Length: 1
@@ -328,7 +320,7 @@ Visualization Manager:
         Color: 237; 212; 0
         Head Length: 0.03999999910593033
         Head Radius: 0.05000000074505806
-        Shaft Length: 0.15000000596046448
+        Shaft Length: 0.10000000149011612
         Shaft Radius: 0.019999999552965164
         Value: Arrow
       Topic: /odom
@@ -344,6 +336,75 @@ Visualization Manager:
       Unreliable: false
       Use Timestamp: false
       Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 138; 226; 52
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.10000000149011612
+      Name: Goal Pose
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /move_base_simple/goal
+      Unreliable: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Local Costmap
+      Topic: /move_base/local_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 252; 233; 79
+      Enabled: true
+      Name: Local Footprint
+      Queue Size: 10
+      Topic: /move_base/local_costmap/footprint
+      Unreliable: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: true
+      Enabled: true
+      Name: Global Costmap
+      Topic: /move_base/global_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.05000000074505806
+      Head Length: 0.019999999552965164
+      Length: 0.05000000074505806
+      Line Style: Billboards
+      Line Width: 0.009999999776482582
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 114; 159; 207
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.009999999776482582
+      Shaft Diameter: 0.03999999910593033
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/NavfnROS/plan
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -372,33 +433,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 4.719749450683594
+      Distance: 7.274391174316406
       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: -0.35903388261795044
+        Y: 0.7160218954086304
+        Z: 0.5280526876449585
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.3847973346710205
+      Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.0231237411499023
+      Yaw: 1.5781160593032837
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 845
+  Height: 836
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001b5000002b3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b3000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005fd0000003efc0100000002fb0000000800540069006d00650100000000000005fd0000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000442000002b300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004e4000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -407,6 +468,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1533
-  X: 67
+  Width: 1600
+  X: 0
   Y: 27