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wpb_home/wpb_home_tutorials/rviz/3d_slam.rviz
Robot 1a54d6144e add palce_action
2019-11-28 11:15:39 +08:00

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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /LaserScan1
Splitter Ratio: 0.662791
Tree Height: 549
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.02684
Min Value: -1.12646
Value: true
Axis: Z
Channel Name: rgb
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 2.34177e-38
Min Color: 0; 0; 0
Min Intensity: 9.21942e-41
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /voxel_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /kinect2/qhd/image_color_rect
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- 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 max depth (m): 4
Cloud min depth (m): 0
Cloud voxel size (m): 0.01
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
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: MapCloud
Node filtering angle (degrees): 30
Node filtering radius (m): 0.1
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
Unreliable: false
Value: true
- 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_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
body_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
kinect2_dock:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
kinect2_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
kinect2_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser:
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/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 47
Min Color: 0; 0; 0
Min Intensity: 47
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.03
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Value: 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/LaserScan
Color: 0; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Kinect2 Scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.1
Style: Flat Squares
Topic: /kinect2_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 7.78417
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.638454
Y: -0.440907
Z: 0.191002
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.724797
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 2.77417
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1020
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000017c000003d9fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006800fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002bd000000e600fffffffb0000000a0049006d00610067006501000002c3000001160000001a00fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000038800fffffffb0000000800540069006d00650100000000000004500000000000000000000004bd000003d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1599
X: 81
Y: 30
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