You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
582 lines
16 KiB
582 lines
16 KiB
Panels:
|
|
- Class: rviz/Displays
|
|
Help Height: 78
|
|
Name: Displays
|
|
Property Tree Widget:
|
|
Expanded: ~
|
|
Splitter Ratio: 0.5
|
|
Tree Height: 1079
|
|
- Class: rviz/Selection
|
|
Name: Selection
|
|
- Class: rviz/Tool Properties
|
|
Expanded:
|
|
- /2D Pose Estimate1
|
|
- /2D Nav Goal1
|
|
- /Publish Point1
|
|
Name: Tool Properties
|
|
Splitter Ratio: 0.5886790156364441
|
|
- Class: rviz/Views
|
|
Expanded:
|
|
- /Current View1
|
|
Name: Views
|
|
Splitter Ratio: 0.5
|
|
- Class: rviz/Time
|
|
Name: Time
|
|
SyncMode: 0
|
|
SyncSource: PointCloud2
|
|
Preferences:
|
|
PromptSaveOnExit: true
|
|
Toolbars:
|
|
toolButtonStyle: 2
|
|
Visualization Manager:
|
|
Class: ""
|
|
Displays:
|
|
- Alpha: 0.5
|
|
Cell Size: 1
|
|
Class: rviz/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: 0.5
|
|
Class: rviz/RobotModel
|
|
Collision Enabled: false
|
|
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
|
|
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
|
|
Show Trail: false
|
|
camera_color_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
camera_color_optical_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
camera_depth_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
camera_depth_optical_frame:
|
|
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
|
|
Show Trail: false
|
|
camera_infra1_optical_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
camera_infra2_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
camera_infra2_optical_frame:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
camera_link:
|
|
Alpha: 1
|
|
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
|
|
Show Trail: false
|
|
Value: true
|
|
link_arm_l0:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_arm_l1:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_arm_l2:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_arm_l3:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_arm_l4:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_aruco_inner_wrist:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_aruco_left_base:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_aruco_right_base:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_aruco_shoulder:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_aruco_top_wrist:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_grasp_center:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
link_gripper_finger_left:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_gripper_finger_right:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_gripper_fingertip_left:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_gripper_fingertip_right:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_head:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_head_pan:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_head_tilt:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_left_wheel:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_lift:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_mast:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_right_wheel:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_straight_gripper:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_wrist_pitch:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_wrist_roll:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_wrist_yaw:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
link_wrist_yaw_bottom:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
respeaker_base:
|
|
Alpha: 1
|
|
Show Axes: false
|
|
Show Trail: false
|
|
Value: true
|
|
Name: RobotModel
|
|
Robot Description: robot_description
|
|
TF Prefix: ""
|
|
Update Interval: 0
|
|
Value: true
|
|
Visual Enabled: true
|
|
- Class: rviz/TF
|
|
Enabled: true
|
|
Frame Timeout: 15
|
|
Frames:
|
|
All Enabled: false
|
|
base_link:
|
|
Value: false
|
|
camera_accel_frame:
|
|
Value: false
|
|
camera_accel_optical_frame:
|
|
Value: false
|
|
camera_aligned_depth_to_color_frame:
|
|
Value: false
|
|
camera_bottom_screw_frame:
|
|
Value: false
|
|
camera_color_frame:
|
|
Value: false
|
|
camera_color_optical_frame:
|
|
Value: false
|
|
camera_depth_frame:
|
|
Value: false
|
|
camera_depth_optical_frame:
|
|
Value: false
|
|
camera_gyro_frame:
|
|
Value: false
|
|
camera_gyro_optical_frame:
|
|
Value: false
|
|
camera_infra1_frame:
|
|
Value: false
|
|
camera_infra1_optical_frame:
|
|
Value: false
|
|
camera_infra2_frame:
|
|
Value: false
|
|
camera_infra2_optical_frame:
|
|
Value: false
|
|
camera_link:
|
|
Value: false
|
|
caster_link:
|
|
Value: false
|
|
laser:
|
|
Value: false
|
|
link_arm_l0:
|
|
Value: false
|
|
link_arm_l1:
|
|
Value: false
|
|
link_arm_l2:
|
|
Value: false
|
|
link_arm_l3:
|
|
Value: false
|
|
link_arm_l4:
|
|
Value: false
|
|
link_aruco_inner_wrist:
|
|
Value: false
|
|
link_aruco_left_base:
|
|
Value: false
|
|
link_aruco_right_base:
|
|
Value: false
|
|
link_aruco_shoulder:
|
|
Value: false
|
|
link_aruco_top_wrist:
|
|
Value: false
|
|
link_grasp_center:
|
|
Value: false
|
|
link_gripper_finger_left:
|
|
Value: false
|
|
link_gripper_finger_right:
|
|
Value: false
|
|
link_gripper_fingertip_left:
|
|
Value: false
|
|
link_gripper_fingertip_right:
|
|
Value: false
|
|
link_head:
|
|
Value: false
|
|
link_head_pan:
|
|
Value: false
|
|
link_head_tilt:
|
|
Value: false
|
|
link_left_wheel:
|
|
Value: false
|
|
link_lift:
|
|
Value: false
|
|
link_mast:
|
|
Value: false
|
|
link_right_wheel:
|
|
Value: false
|
|
link_straight_gripper:
|
|
Value: false
|
|
link_straight_gripper_aligned:
|
|
Value: false
|
|
link_wrist_pitch:
|
|
Value: false
|
|
link_wrist_roll:
|
|
Value: false
|
|
link_wrist_yaw:
|
|
Value: false
|
|
link_wrist_yaw_bottom:
|
|
Value: false
|
|
map:
|
|
Value: false
|
|
odom:
|
|
Value: false
|
|
respeaker_base:
|
|
Value: false
|
|
Marker Alpha: 1
|
|
Marker Scale: 1
|
|
Name: TF
|
|
Show Arrows: true
|
|
Show Axes: true
|
|
Show Names: true
|
|
Tree:
|
|
map:
|
|
odom:
|
|
base_link:
|
|
caster_link:
|
|
{}
|
|
laser:
|
|
{}
|
|
link_aruco_left_base:
|
|
{}
|
|
link_aruco_right_base:
|
|
{}
|
|
link_left_wheel:
|
|
{}
|
|
link_mast:
|
|
link_head:
|
|
link_head_pan:
|
|
link_head_tilt:
|
|
camera_bottom_screw_frame:
|
|
camera_link:
|
|
camera_accel_frame:
|
|
camera_accel_optical_frame:
|
|
{}
|
|
camera_aligned_depth_to_color_frame:
|
|
camera_color_optical_frame:
|
|
{}
|
|
camera_color_frame:
|
|
{}
|
|
camera_depth_frame:
|
|
camera_depth_optical_frame:
|
|
{}
|
|
camera_gyro_frame:
|
|
camera_gyro_optical_frame:
|
|
{}
|
|
camera_infra1_frame:
|
|
camera_infra1_optical_frame:
|
|
{}
|
|
camera_infra2_frame:
|
|
camera_infra2_optical_frame:
|
|
{}
|
|
link_lift:
|
|
link_arm_l4:
|
|
link_arm_l3:
|
|
link_arm_l2:
|
|
link_arm_l1:
|
|
link_arm_l0:
|
|
link_aruco_inner_wrist:
|
|
{}
|
|
link_aruco_top_wrist:
|
|
{}
|
|
link_wrist_yaw:
|
|
link_wrist_yaw_bottom:
|
|
link_wrist_pitch:
|
|
link_wrist_roll:
|
|
link_straight_gripper:
|
|
link_grasp_center:
|
|
{}
|
|
link_gripper_finger_left:
|
|
link_gripper_fingertip_left:
|
|
{}
|
|
link_gripper_finger_right:
|
|
link_gripper_fingertip_right:
|
|
{}
|
|
link_straight_gripper_aligned:
|
|
{}
|
|
link_aruco_shoulder:
|
|
{}
|
|
respeaker_base:
|
|
{}
|
|
link_right_wheel:
|
|
{}
|
|
Update Interval: 0
|
|
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: true
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Min Color: 0; 0; 0
|
|
Name: PointCloud2
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 1
|
|
Size (m): 0.009999999776482582
|
|
Style: Points
|
|
Topic: /camera/depth/color/points
|
|
Unreliable: false
|
|
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/LaserScan
|
|
Color: 255; 255; 255
|
|
Color Transformer: Intensity
|
|
Decay Time: 0
|
|
Enabled: true
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Min Color: 0; 0; 0
|
|
Name: LaserScan
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.009999999776482582
|
|
Style: Flat Squares
|
|
Topic: /scan_filtered
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: true
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Default Light: true
|
|
Fixed Frame: map
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz/Interact
|
|
Hide Inactive Objects: true
|
|
- Class: rviz/MoveCamera
|
|
- Class: rviz/Select
|
|
- Class: rviz/FocusCamera
|
|
- Class: rviz/Measure
|
|
- Class: rviz/SetInitialPose
|
|
Theta std deviation: 0.2617993950843811
|
|
Topic: /initialpose
|
|
X std deviation: 0.5
|
|
Y std deviation: 0.5
|
|
- Class: rviz/SetGoal
|
|
Topic: /move_base_simple/goal
|
|
- Class: rviz/PublishPoint
|
|
Single click: true
|
|
Topic: /clicked_point
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Class: rviz/Orbit
|
|
Distance: 6.687999725341797
|
|
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
|
|
Y: 0
|
|
Z: 0
|
|
Focal Shape Fixed Size: false
|
|
Focal Shape Size: 0.05000000074505806
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.009999999776482582
|
|
Pitch: 0.7853981852531433
|
|
Target Frame: <Fixed Frame>
|
|
Yaw: 0.7853981852531433
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 1376
|
|
Hide Left Dock: false
|
|
Hide Right Dock: false
|
|
QMainWindow State: 000000ff00000000fd000000040000000000000156000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b8000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000085c000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: false
|
|
Width: 2488
|
|
X: 72
|
|
Y: 27
|