From ad079e2026c3e99d54d524c98ca7bf8b6b4bec57 Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Tue, 16 Aug 2022 12:38:51 -0700 Subject: [PATCH] Include the image display. --- rviz/aruco_detector_example.rviz | 168 ++++++++++++++++--------------- 1 file changed, 89 insertions(+), 79 deletions(-) diff --git a/rviz/aruco_detector_example.rviz b/rviz/aruco_detector_example.rviz index 1d9ffdc..a41d4e3 100644 --- a/rviz/aruco_detector_example.rviz +++ b/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: 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