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stretch_ros
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Branch: feature/reach_to_aruco
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stretch_ros/stretch_rtabmap/rviz/rtab_mapping.rviz

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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Map1
- /Map2
Splitter Ratio: 0.5
Tree Height: 1150
- 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
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: MapCloud
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 1
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:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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_wrist_yaw:
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
- Alpha: 1
Class: rtabmap_ros/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Landmark: 0; 128; 0
Local loop closure: 255; 255; 0
Merged neighbor: 255; 170; 0
Name: MapGraph
Neighbor: 0; 0; 255
Queue Size: 10
Topic: /rtabmap/mapGraph
Unreliable: false
User: 255; 0; 0
Value: true
Virtual: 255; 0; 255
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud from scan: false
Cloud max depth (m): 4
Cloud min depth (m): 0
Cloud voxel size (m): 0.009999999776482582
Color: 255; 255; 255
Color Transformer: RGB8
Download graph: false
Download map: false
Enabled: true
Filter ceiling (m): 0
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: MapCloud
Node filtering angle (degrees): 30
Node filtering radius (m): 0
Position Transformer: XYZ
Queue Size: 10
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /rtabmap/mapData
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Queue Size: 10
Topic: /move_base/global_costmap/footprint
Unreliable: false
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: rtabmap_ros/OrbitOriented
Distance: 10.57433032989502
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: -3.853421926498413
Y: 0.7817280888557434
Z: 0.4164792597293854
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7997970581054688
Target Frame: <Fixed Frame>
Yaw: 2.288580894470215
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1376
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000015600000508fc0200000007fb0000001200530065006c0065006300740069006f006e000000003d0000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c00000508000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003d000000810000005c00fffffffb0000000a0056006900650077007300000000c400000317000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000134fc0100000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000000007800000000000000000fb0000000800540069006d00650000000000000007800000047700fffffffb0000000800540069006d00650100000000000004500000000000000000000008a40000050800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: true
Views:
collapsed: true
Width: 2560
X: 0
Y: 27