From 4ae5d1ca9d299ea8e82756d43b3b1ffbaf7d7942 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Thu, 15 Aug 2024 12:15:54 -0400 Subject: [PATCH] Revert to the old navigation viz setup; hide TF by default to make things less cluttered --- turtlebot4_viz/rviz/navigation.rviz | 667 +++++++++++++++++++++++++--- 1 file changed, 599 insertions(+), 68 deletions(-) diff --git a/turtlebot4_viz/rviz/navigation.rviz b/turtlebot4_viz/rviz/navigation.rviz index c0db5c5..5608d1b 100644 --- a/turtlebot4_viz/rviz/navigation.rviz +++ b/turtlebot4_viz/rviz/navigation.rviz @@ -1,18 +1,18 @@ Panels: - Class: rviz_common/Displays - Help Height: 78 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 395 + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 330 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 @@ -21,11 +21,6 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" - Class: nav2_rviz_plugins/Navigation 2 Name: Navigation 2 Visualization Manager: @@ -67,6 +62,224 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + 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 + front_left_bottom_weight_block: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_top_weight_block: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_tower_standoff: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_bottom_weight_block: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_top_weight_block: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_tower_standoff: + 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 + mouse: + Alpha: 1 + Show Axes: false + Show Trail: false + oakd_camera_bracket: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + 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 + rear_left_tower_standoff: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_tower_standoff: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rplidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shell_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tower_sensor_plate: + 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 @@ -75,6 +288,22 @@ Visualization Manager: 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: + {} + Update Interval: 0 + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -98,86 +327,396 @@ Visualization Manager: Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 - Style: Flat Squares + Style: Points Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: scan Use Fixed Frame: true Use rainbow: true Value: true - - Class: rviz_default_plugins/Camera + - 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: "" + Decay Time: 0 Enabled: true - Far Plane Distance: 100 - Image Rendering: background and overlay - Name: Camera - Overlay Alpha: 0.5 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable - Value: oakd/rgb/preview/image_raw + Reliability Policy: Best Effort + Value: mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true Value: true - Visibility: - Grid: true - LaserScan: true - Map: true - RobotModel: true - TF: true - Value: true - Zoom Factor: 1 - - Alpha: 0.699999988079071 + - Alpha: 1 Binary representation: false Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: map - Draw Behind: false + Draw Behind: true Enabled: true Name: Map Topic: - Depth: 5 - Durability Policy: Volatile + Depth: 1 + Durability Policy: Transient Local Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /map + Value: map Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /map_updates + Value: map_updates Use Timestamp: false Value: true - - Class: rviz_default_plugins/TF + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + 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 + 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 + Binary representation: false + Binary threshold: 100 + 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 + 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 + History Policy: Keep Last + Reliability Policy: Reliable + Value: intel_realsense_r200_depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true Enabled: false - Filter (blacklist): "" - Filter (whitelist): "" - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: + Name: Realsense + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: {} - Update Interval: 0 - Value: false + 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: odom + Fixed Frame: map Frame Rate: 30 Name: root Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - Class: rviz_default_plugins/MoveCamera - Class: rviz_default_plugins/Select - Class: rviz_default_plugins/FocusCamera @@ -193,13 +732,6 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: goal_pose - Class: rviz_default_plugins/PublishPoint Single click: true Topic: @@ -208,13 +740,14 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: clicked_point + - Class: nav2_rviz_plugins/GoalTool Transformation: Current: Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: -1.5707999467849731 + Angle: -1.6150002479553223 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -224,31 +757,29 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 211.01162719726562 + Scale: 127.88431549072266 Target Frame: Value: TopDownOrtho (rviz_default_plugins) - X: 0.6470635533332825 - Y: -0.2926105856895447 + X: -0.044467076659202576 + Y: -0.38726311922073364 Saved: ~ Window Geometry: - Camera: - collapsed: false Displays: collapsed: false Height: 1011 Hide Left Dock: false - Hide Right Dock: false + Hide Right Dock: true Navigation 2: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000219000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000025e000001320000002900ffffff000000010000013a00000351fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f0000016b000000a900fffffffb00000018004e0061007600690067006100740069006f006e0020003201000001b0000001e0000001d800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006501000000000000073e0000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004a20000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000395fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f0000018a000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001cf00000205000001d800fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002900ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005ce0000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + RealsenseCamera: collapsed: false - Time: + Selection: collapsed: false Tool Properties: collapsed: false Views: - collapsed: false + collapsed: true Width: 1854 X: 66 Y: 32