Include the image display.

rviz/aruco_detector_example.rviz

@@ -7,10 +7,8 @@ Panels:
         - /Status1
         - /RobotModel1
         - /RobotModel1/Links1/camera_bottom_screw_frame1
-        - /TF1
-        - /TF1/Frames1
-      Splitter Ratio: 0.8150289058685303
-    Tree Height: 915
+      Splitter Ratio: 0.5058823823928833
+    Tree Height: 366
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -29,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: Image
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -295,12 +293,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        base_left:
-          Value: true
         base_link:
           Value: false
-        base_right:
-          Value: true
         camera_accel_frame:
           Value: false
         camera_accel_optical_frame:
@@ -313,10 +307,16 @@ Visualization Manager:
           Value: false
         camera_color_optical_frame:
           Value: false
+        camera_color_optical_frame_rotated:
+          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:
@@ -327,6 +327,8 @@ Visualization Manager:
           Value: false
         camera_link:
           Value: false
+        docking_station:
+          Value: true
         laser:
           Value: false
         link_arm_l0:
@@ -377,89 +379,95 @@ Visualization Manager:
           Value: false
         link_wrist_yaw:
           Value: false
+        odom:
+          Value: true
         respeaker_base:
           Value: false
-        shoulder_top:
-          Value: true
-        wrist_inside:
-          Value: true
-        wrist_top:
-          Value: true
       Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        base_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:
+        odom:
+          base_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_optical_frame_rotated:
+                              {}
+                            docking_station:
+                              {}
+                        camera_color_frame:
                           {}
-                      camera_aligned_depth_to_color_frame:
-                        {}
-                      camera_color_frame:
-                        camera_color_optical_frame:
-                          base_left:
+                        camera_depth_frame:
+                          camera_depth_optical_frame:
                             {}
-                          base_right:
+                        camera_gyro_frame:
+                          camera_gyro_optical_frame:
                             {}
-                          shoulder_top:
+                        camera_infra1_frame:
+                          camera_infra1_optical_frame:
                             {}
-                          wrist_inside:
+                        camera_infra2_frame:
+                          camera_infra2_optical_frame:
                             {}
-                          wrist_top:
+              link_lift:
+                link_arm_l4:
+                  link_arm_l3:
+                    link_arm_l2:
+                      link_arm_l1:
+                        link_arm_l0:
+                          link_aruco_inner_wrist:
                             {}
-                      camera_depth_frame:
-                        camera_depth_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_gripper:
-                            link_grasp_center:
-                              {}
-                            link_gripper_finger_left:
-                              link_gripper_fingertip_left:
-                                {}
-                            link_gripper_finger_right:
-                              link_gripper_fingertip_right:
+                          link_aruco_top_wrist:
+                            {}
+                          link_wrist_yaw:
+                            link_gripper:
+                              link_grasp_center:
                                 {}
-              link_aruco_shoulder:
+                              link_gripper_finger_left:
+                                link_gripper_fingertip_left:
+                                  {}
+                              link_gripper_finger_right:
+                                link_gripper_fingertip_right:
+                                  {}
+                link_aruco_shoulder:
+                  {}
+              respeaker_base:
                 {}
-            respeaker_base:
+            link_right_wheel:
               {}
-          link_right_wheel:
-            {}
       Update Interval: 0
       Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/upright_image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -488,7 +496,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.342942714691162
+      Distance: 4.624553680419922
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -503,10 +511,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.37479761242866516
+      Pitch: 0.4497976303100586
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.980466365814209
+      Yaw: 3.255469799041748
     Saved: ~
 Window Geometry:
   Displays:
@@ -514,7 +522,9 @@ Window Geometry:
   Height: 1212
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001a20000041efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000041e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000022f000000c70000000000000000fb0000000a0049006d00610067006500000002920000026d0000000000000000fb0000000c00430061006d0065007200610000000429000000d60000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056f0000003efc0100000002fb0000000800540069006d006501000000000000056f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003c70000041e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000002aa0000041efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001f9000000c900fffffffb0000000a0049006d006100670065010000023c0000021f0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000022f000000c70000000000000000fb0000000a0049006d00610067006500000002920000026d0000000000000000fb0000000c00430061006d0065007200610000000429000000d60000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056f0000003efc0100000002fb0000000800540069006d006501000000000000056f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002bf0000041e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -524,5 +534,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1391
-  X: 1030
-  Y: 84
+  X: 242
+  Y: 92