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rviz_config.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /PoseArray1
- /TF1/Frames1
Splitter Ratio: 0.6686046719551086
Tree Height: 331
- 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: LaserScan
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: 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:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cabinet_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera1_lens:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dummy_base:
Alpha: 1
Show Axes: false
Show Trail: false
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_caster_back_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_caster_back_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_caster_front_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_caster_front_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_wheel_back_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_wheel_back_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_wheel_front_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
mpo_700_wheel_front_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pad1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pad2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
palm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_3_link:
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
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Queue Size: 10
Topic: /move_base/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Queue Size: 10
Topic: /move_base/global_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/global_plan
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/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
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: /move_base/DWAPlannerROS/trajectory_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/NavfnROS/plan
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: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /lidar_1/scan_filtered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base:
Value: false
base_link:
Value: true
cabinet_link:
Value: false
camera1_lens:
Value: false
camera1_link:
Value: false
dummy_base:
Value: false
ee_link:
Value: false
finger1:
Value: false
finger2:
Value: false
forearm_link:
Value: false
lidar_1_link:
Value: true
map:
Value: false
mpo_700_base_link:
Value: true
mpo_700_caster_back_left_link:
Value: false
mpo_700_caster_back_right_link:
Value: false
mpo_700_caster_front_left_link:
Value: false
mpo_700_caster_front_right_link:
Value: false
mpo_700_wheel_back_left_link:
Value: false
mpo_700_wheel_back_right_link:
Value: false
mpo_700_wheel_front_left_link:
Value: false
mpo_700_wheel_front_right_link:
Value: false
odom:
Value: false
pad1:
Value: false
pad2:
Value: false
palm:
Value: false
shoulder_link:
Value: false
tool0:
Value: false
upper_arm_link:
Value: false
wrist_1_link:
Value: false
wrist_2_link:
Value: false
wrist_3_link:
Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
mpo_700_base_link:
cabinet_link:
base_link:
base:
{}
shoulder_link:
upper_arm_link:
forearm_link:
wrist_1_link:
wrist_2_link:
wrist_3_link:
ee_link:
{}
tool0:
camera1_link:
camera1_lens:
{}
palm:
finger1:
pad1:
{}
finger2:
pad2:
{}
lidar_1_link:
{}
mpo_700_caster_back_left_link:
mpo_700_wheel_back_left_link:
{}
mpo_700_caster_back_right_link:
mpo_700_wheel_back_right_link:
{}
mpo_700_caster_front_left_link:
mpo_700_wheel_front_left_link:
{}
mpo_700_caster_front_right_link:
mpo_700_wheel_front_right_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: odom
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: 8.675561904907227
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.909178614616394
Y: -0.12874633073806763
Z: -0.22590041160583496
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5647963285446167
Target Frame: <Fixed Frame>
Yaw: 4.725401878356934
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 628
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000002b2000001d6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001d6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001d6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000001d6000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000059e0000003efc0100000002fb0000000800540069006d006501000000000000059e000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000001d1000001d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1438
X: 482
Y: 415