Init commit of rviz configuration for the tf2 broadcaster example.

rviz/tf2_broadcaster_example.rviz

@@ -0,0 +1,493 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Status1
+        - /RobotModel1/Links1/camera_bottom_screw_frame1
+        - /TF1
+        - /TF1/Frames1
+      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
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+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: 0.30000001192092896
+      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_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_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
+        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
+      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): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /camera/depth/color/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          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_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
+        fk_link_lift:
+          Value: true
+        fk_link_mast:
+          Value: true
+        fk_link_wrist_yaw:
+          Value: true
+        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:
+          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_wrist_yaw:
+          Value: false
+        respeaker_base:
+          Value: false
+      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:
+            fk_link_mast:
+              {}
+            link_head:
+              link_head_pan:
+                link_head_tilt:
+                  camera_bottom_screw_frame:
+                    camera_link:
+                      camera_color_frame:
+                        camera_color_optical_frame:
+                          {}
+                      camera_depth_frame:
+                        camera_depth_optical_frame:
+                          {}
+                      camera_infra1_frame:
+                        camera_infra1_optical_frame:
+                          {}
+                      camera_infra2_frame:
+                        camera_infra2_optical_frame:
+                          {}
+            link_lift:
+              fk_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:
+                          fk_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_shoulder:
+                {}
+            respeaker_base:
+              {}
+          link_right_wheel:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    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: 4.18682336807251
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.23268283903598785
+        Y: -0.41365212202072144
+        Z: 0.6679157614707947
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3297959268093109
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.8972910642623901
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1376
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000253000004c2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000022e000000c70000000000000000fb0000000a0049006d00610067006501000002fb000002040000000000000000fb0000000c00430061006d0065007200610000000429000000d60000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006550000003efc0100000002fb0000000800540069006d0065010000000000000655000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fc000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1621
+  X: 864
+  Y: 27