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marble-4.rviz
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marble-4.rviz
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Panels:
- Class: rviz/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 718
- 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
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
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: Robot Transforms
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- 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
X1/base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
X1/base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/center_left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/center_right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_camera_beam:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_camera_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_camera_optical:
Alpha: 1
Show Axes: false
Show Trail: false
X1/front_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_laser_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
X1/inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
X1/left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/left_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/left_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_center_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_left_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_right_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/right_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/right_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/top_chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
X1/top_plate_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
X1/top_plate_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/top_plate_rear_link:
Alpha: 1
Show Axes: false
Show Trail: false
Name: X1 Robot
Robot Description: /X1/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X1/occupied_cells_vis_array
Name: X1 Octomap
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X1/voxblox_node/occupied_nodes
Name: X1 Voxblox
Namespaces:
{}
Queue Size: 100
Value: false
- 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: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 5.848527908325195
Min Color: 0; 0; 0
Min Intensity: -1.7187031507492065
Name: X1 ESDF
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /X1/voxblox_node/esdf_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: X1 Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /X1/odometry
Unreliable: false
Value: true
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 211; 215; 207
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: X1 Frontiers
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Boxes
Topic: /X1/frontier
Unreliable: false
Use Fixed Frame: true
Use rainbow: 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: X1 Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /X1/planned_path
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: X1 Pose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /X1/frontier_goal_pose
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: X1 Nearest Frontier
Radius: 0.20000000298023224
Topic: /X1/nearest_frontier
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /X1/lookahead_vec
Name: X1 Lookahead Vector
Namespaces:
{}
Queue Size: 100
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
X2/base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
X2/base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/center_left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/center_right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_camera_beam:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_camera_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_camera_optical:
Alpha: 1
Show Axes: false
Show Trail: false
X2/front_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_laser_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
X2/inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
X2/left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/left_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/left_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_center_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_left_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_right_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/right_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/right_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/top_chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
X2/top_plate_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
X2/top_plate_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/top_plate_rear_link:
Alpha: 1
Show Axes: false
Show Trail: false
Name: X2 Robot
Robot Description: /X2/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X2/occupied_cells_vis_array
Name: X2 Octomap
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X2/voxblox_node/occupied_nodes
Name: X2 Voxblox
Namespaces:
{}
Queue Size: 100
Value: false
- 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: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 3.8485286235809326
Min Color: 0; 0; 0
Min Intensity: -0.9955084323883057
Name: X2 ESDF
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /X2/voxblox_node/esdf_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: X2 Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /X2/odometry
Unreliable: false
Value: true
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 211; 215; 207
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: X2 Frontiers
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Boxes
Topic: /X2/frontier
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: false
- 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: X2 Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /X2/planned_path
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: X2 Pose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /X2/frontier_goal_pose
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: false
History Length: 1
Name: X2 Nearest Frontier
Radius: 0.20000000298023224
Topic: /X2/nearest_frontier
Unreliable: false
Value: false
- Class: rviz/Marker
Enabled: false
Marker Topic: /X2/lookahead_vec
Name: X2 Lookahead Vector
Namespaces:
{}
Queue Size: 100
Value: false
- 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
X3/base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
X3/base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/center_left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/center_right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_camera_beam:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_camera_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_camera_optical:
Alpha: 1
Show Axes: false
Show Trail: false
X3/front_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_laser_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
X3/inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
X3/left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/left_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/left_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/rear_center_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/rear_left_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/rear_right_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/right_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/right_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/top_chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
X3/top_plate_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
X3/top_plate_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X3/top_plate_rear_link:
Alpha: 1
Show Axes: false
Show Trail: false
Name: X3 Robot
Robot Description: /X3/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /X3/occupied_cells_vis_array
Name: X3 Octomap
Namespaces:
{}
Queue Size: 100
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: X3 Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /X3/odometry
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /X3/voxblox_node/occupied_nodes
Name: X3 Voxblox
Namespaces:
occupied_voxels: true
Queue Size: 100
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
X4/base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
X4/base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/center_left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/center_right_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_camera_beam:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_camera_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_camera_optical:
Alpha: 1
Show Axes: false
Show Trail: false
X4/front_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_laser_mount:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
X4/inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
X4/left_headlight_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/left_lateral_front_led_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X4/left_lateral_rear_led_link:
Alpha: 1
Show Axes: false
Show Trail: false