diff --git a/turtlebot4_viz/rviz/robot.rviz b/turtlebot4_viz/rviz/robot.rviz index c1c646f..46b1604 100644 --- a/turtlebot4_viz/rviz/robot.rviz +++ b/turtlebot4_viz/rviz/robot.rviz @@ -8,7 +8,7 @@ Panels: - /TF1/Frames1 - /TF1/Tree1 Splitter Ratio: 0.5833333134651184 - Tree Height: 606 + Tree Height: 853 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -59,81 +59,200 @@ Visualization Manager: Expand Joint Details: false Expand Link Details: false Expand Tree: false - Link Tree Style: "" - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: false - Visual Enabled: true - - Class: rviz_default_plugins/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: 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 - base_scan: - Value: true - camera_depth_frame: - Value: true - camera_depth_optical_frame: - Value: true - camera_link: - Value: true - camera_rgb_frame: - Value: true - camera_rgb_optical_frame: - Value: true - caster_back_left_link: + bump_front_center: + Alpha: 1 + Show Axes: false + Show Trail: false + bump_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + bump_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + bump_left: + Alpha: 1 + Show Axes: false + Show Trail: false + bump_right: + Alpha: 1 + Show Axes: false + Show Trail: false + bumper: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true - caster_back_right_link: + button_1: + Alpha: 1 + Show Axes: false + Show Trail: false + button_2: + Alpha: 1 + Show Axes: false + Show Trail: false + button_power: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_side_left: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_side_right: + Alpha: 1 + Show Axes: false + Show Trail: false + front_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_front_center_left: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_front_center_right: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_left: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_right: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_intensity_side_left: + Alpha: 1 + Show Axes: false + Show Trail: false + ir_omni: + Alpha: 1 + Show Axes: false + Show Trail: false + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true - map: + mouse: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_camera_bracket: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true - odom: + oakd_imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_left_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_left_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_link: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true - wheel_left_link: + oakd_rgb_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_rgb_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_right_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_right_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true - wheel_right_link: + rplidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true + wheel_drop_left: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_drop_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: - map: - odom: - base_footprint: - base_link: - base_scan: - {} - camera_link: - camera_depth_frame: - camera_depth_optical_frame: - {} - camera_rgb_frame: - camera_rgb_optical_frame: - {} - caster_back_left_link: - {} - caster_back_right_link: - {} - imu_link: - {} - wheel_left_link: - {} - wheel_right_link: - {} + {} Update Interval: 0 - Value: true + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -164,7 +283,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort - Value: scan + Value: /scan Use Fixed Frame: true Use rainbow: true Value: true @@ -195,336 +314,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: mobile_base/sensors/bumper_pointcloud Use Fixed Frame: true Use rainbow: true Value: true - - Alpha: 1 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: true - Enabled: true - Name: Map - Topic: - Depth: 1 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: map - Use Timestamp: false - Value: true - - Alpha: 1 - Class: nav2_rviz_plugins/ParticleCloud - Color: 0; 180; 0 - Enabled: true - Max Arrow Length: 0.3 - Min Arrow Length: 0.02 - Name: Amcl Particle Swarm - Shape: Arrow (Flat) - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: particle_cloud - Value: true - - Class: rviz_common/Group - Displays: - - Alpha: 0.3 - Class: rviz_default_plugins/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Global Costmap - Topic: - Depth: 1 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: global_costmap/costmap - Use Timestamp: false - Value: true - - Alpha: 0.3 - Class: rviz_default_plugins/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Downsampled Costmap - Topic: - Depth: 1 - Durability Policy: Transient Local - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: downsampled_costmap - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: downsampled_costmap_updates - Use Timestamp: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz_default_plugins/Path - Color: 255; 0; 0 - Enabled: true - Head Diameter: 0.019999999552965164 - Head Length: 0.019999999552965164 - 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: Arrows - Radius: 0.029999999329447746 - Shaft Diameter: 0.004999999888241291 - Shaft Length: 0.019999999552965164 - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: plan - 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_default_plugins/PointCloud2 - Color: 125; 125; 125 - 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: VoxelGrid - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.05000000074505806 - Style: Boxes - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: global_costmap/voxel_marked_cloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: false - Name: Polygon - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: global_costmap/published_footprint - Value: false - Enabled: true - Name: Global Planner - - Class: rviz_common/Group - Displays: - - Alpha: 0.699999988079071 - Class: rviz_default_plugins/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Local Costmap - Topic: - Depth: 1 - Durability Policy: Transient Local - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: local_costmap/costmap - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: local_costmap/costmap_updates - Use Timestamp: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz_default_plugins/Path - Color: 0; 12; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: Local Plan - 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: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: local_plan - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Trajectories - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: marker - Value: false - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: true - Name: Polygon - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: local_costmap/published_footprint - 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_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - 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: VoxelGrid - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: local_costmap/voxel_marked_cloud - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Controller - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/Image - Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: RealsenseCamera - Normalize Range: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: intel_realsense_r200_depth/image_raw - 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_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - 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: RealsenseDepthImage - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: intel_realsense_r200_depth/points - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: false - Name: Realsense - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MarkerArray - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: waypoints - Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: map + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -558,39 +357,40 @@ Visualization Manager: Value: true Views: Current: - Angle: -1.6150002479553223 - Class: rviz_default_plugins/TopDownOrtho + Class: rviz_default_plugins/Orbit + Distance: 2.1526174545288086 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Focal Point: + X: 0.43340879678726196 + Y: -0.34467101097106934 + Z: 0.22559373080730438 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 127.88431549072266 + Pitch: 0.37979763746261597 Target Frame: - Value: TopDownOrtho (rviz_default_plugins) - X: -0.044467076659202576 - Y: -0.38726311922073364 + Value: Orbit (rviz_default_plugins) + Yaw: 3.609192371368408 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 932 + Height: 1011 Hide Left Dock: false Hide Right Dock: true - Navigation 2: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000002de000000a90000008100fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - RealsenseCamera: - collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000395fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000395000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000002de000000a90000000000000000fb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f00000395fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f00000395000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005ce0000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true - Width: 1545 - X: 696 - Y: 229 \ No newline at end of file + Width: 1854 + X: 66 + Y: 32