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aloam_hesai.rviz
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aloam_hesai.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /odometry1/odomPath1
- /odometry1/PointCloud21
Splitter Ratio: 0.5
Tree Height: 479
- 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
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: 160
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 170; 0
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: gtPathlc
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: /path_gt
Unreliable: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 170; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: gtPathLidar
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: /path_gt_lidar
Unreliable: false
Value: true
Enabled: false
Name: GT
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 85; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.10000000149011612
Name: odomPath
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: /laser_odom_path
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: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 63.10047912597656
Min Color: 0; 0; 0
Min Intensity: -0.0067862942814826965
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /velodyne_cloud_2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: false
Name: odometry
- Class: rviz/Group
Displays:
- 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: mappingPath
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: /aft_mapped_path
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: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: -999999
Min Color: 0; 0; 0
Min Intensity: 999999
Name: allMapCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /laser_cloud_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 15
Min Color: 0; 0; 0
Min Intensity: 0
Name: surround
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 1
Size (m): 0.05000000074505806
Style: Squares
Topic: /laser_cloud_surround
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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
Max Intensity: 15.100000381469727
Min Color: 0; 0; 0
Min Intensity: 0
Name: currPoints
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /velodyne_cloud_registered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 63.03843307495117
Min Color: 255; 0; 0
Min Intensity: -0.006431261543184519
Name: corner
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /mapping_corner
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 63.0818977355957
Min Color: 0; 0; 0
Min Intensity: -0.005241604056209326
Name: surf
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /mapping_surf
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 17.08800506591797
Min Color: 0; 0; 0
Min Intensity: -0.006790489889681339
Name: used_corner
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.5
Style: Flat Squares
Topic: /mapping_used_corner
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 0; 255; 0
Max Intensity: 63.0818977355957
Min Color: 0; 0; 0
Min Intensity: -0.005241604056209326
Name: used_surf
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.5
Style: Flat Squares
Topic: /mapping_used_surf
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 21.062847137451172
Min Color: 0; 0; 0
Min Intensity: -0.006625724025070667
Name: map_corner
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /mapping_map_corner
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 63.08392333984375
Min Color: 0; 0; 0
Min Intensity: -0.00876065157353878
Name: map_surf
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /mapping_map_surf
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: leftcameraPath
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: /lc_path
Unreliable: false
Value: false
Enabled: true
Name: mapping
- Class: rviz/Group
Displays:
- 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: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 15
Min Color: 0; 0; 0
Min Intensity: 0
Name: sharp
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /laser_cloud_sharp
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: 63.03987121582031
Min Color: 0; 0; 0
Min Intensity: 0.0263746976852417
Name: flat
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /laser_cloud_flat
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0.9900000095367432
Min Color: 0; 0; 0
Min Intensity: 0
Name: raw_data
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /pandar_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0.12361729145050049
Min Color: 0; 0; 0
Min Intensity: -0.00711920578032732
Name: scan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /laser_scanid_63
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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; 85; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 62.07567596435547
Min Color: 0; 0; 0
Min Intensity: -0.007054195739328861
Name: removPoints
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /laser_remove_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: false
Name: scan
- Class: rviz/Image
Enabled: false
Image Topic: /kitti/image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: camera_init
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/XYOrbit
Distance: 34.032432556152344
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.6757969856262207
Y: 1.082263708114624
Z: -2.3097984790802
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4947969913482666
Target Frame: body
Value: XYOrbit (rviz)
Yaw: 4.524999141693115
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 708
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
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