Updated rviz configuration.

rviz/perception_example.rviz

@@ -6,9 +6,8 @@ Panels:
       Expanded:
         - /Status1
         - /RobotModel1/Links1/camera_bottom_screw_frame1
-        - /DepthCloud1/Auto Size1
       Splitter Ratio: 0.5
-    Tree Height: 728
+    Tree Height: 1079
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -272,6 +271,18 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /camera/color/image_raw_upright_view
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
     - Class: rviz/Camera
       Enabled: false
       Image Rendering: background and overlay
@@ -283,8 +294,9 @@ Visualization Manager:
       Unreliable: false
       Value: false
       Visibility:
-        "": true
+        DepthCloud: true
         Grid: true
+        Image: true
         PointCloud2: true
         RobotModel: true
         Value: true
@@ -353,7 +365,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.3488171100616455
+      Distance: 3.6434335708618164
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -368,20 +380,22 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2447976917028427
+      Pitch: 0.23479780554771423
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.430462598800659
+      Yaw: 3.4154603481292725
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1376
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d800000363fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000002d8000000c80000001600ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000055f0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000253000004c2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000022f000000c70000000000000000fb0000000a0049006d00610067006500000002920000026d0000001600fffffffb0000000c00430061006d0065007200610000000429000000d60000001600ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006550000003efc0100000002fb0000000800540069006d0065010000000000000655000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fc000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -390,6 +404,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1853
-  X: 67
-  Y: 27
+  Width: 1621
+  X: 864
+  Y: 38