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view.rviz
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view.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.607558012
Tree Height: 778
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
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: 0.0299999993
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: false
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
front_camera_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
front_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
front_camera_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
head_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
hip_center:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
hip_sphere_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_eef_grasp_link:
Alpha: 1
Show Axes: false
Show Trail: false
l_eef_pick_link:
Alpha: 1
Show Axes: false
Show Trail: false
l_elbow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_hand_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_index_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
l_indexbase_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_indexend_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_indexmid_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_shoulder_center:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_thumb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_thumb_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
l_upperarm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_wrist_center:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
l_wrist_r_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
leg_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leg_knee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leg_shank_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leg_shank_link_dummy:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leg_thigh_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leg_thigh_link_dummy:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lifter_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lifter_top_link:
Alpha: 1
Show Axes: false
Show Trail: false
neck_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_eef_grasp_link:
Alpha: 1
Show Axes: false
Show Trail: false
r_eef_pick_link:
Alpha: 1
Show Axes: false
Show Trail: false
r_elbow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_hand_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_index_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
r_indexbase_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_indexend_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_indexmid_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_shoulder_center:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_thumb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_thumb_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
r_upperarm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_wrist_center:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
r_wrist_r_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
rear_camera_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_camera_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
waist_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: false
wheel_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheels_base_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheels_front_left_mecanum:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheels_front_right_mecanum:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheels_rear_left_mecanum:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheels_rear_right_mecanum:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheels_top_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
- Class: rviz/TF
Enabled: true
Frame Timeout: 3
Frames:
All Enabled: false
base_link:
Value: false
body_link:
Value: false
camera_frame:
Value: false
camera_optical_frame:
Value: false
front_camera_base_link:
Value: false
front_camera_link:
Value: false
front_camera_right_ir_frame:
Value: false
head_base_link:
Value: false
head_link:
Value: false
hip_center:
Value: false
hip_sphere_link:
Value: false
l_eef_grasp_link:
Value: false
l_eef_pick_link:
Value: false
l_elbow_link:
Value: false
l_forearm_link:
Value: false
l_hand_link:
Value: false
l_index_tip_link:
Value: false
l_indexbase_link:
Value: false
l_indexend_link:
Value: false
l_indexmid_link:
Value: false
l_shoulder_center:
Value: false
l_shoulder_link:
Value: false
l_thumb_link:
Value: false
l_thumb_tip_link:
Value: false
l_upperarm_link:
Value: false
l_wrist_center:
Value: false
l_wrist_r_link:
Value: false
leg_base_link:
Value: false
leg_knee_link:
Value: false
leg_shank_link:
Value: false
leg_shank_link_dummy:
Value: false
leg_thigh_link:
Value: false
leg_thigh_link_dummy:
Value: false
lifter_base_link:
Value: false
lifter_top_link:
Value: false
map:
Value: false
neck_link:
Value: false
odom:
Value: false
r_eef_grasp_link:
Value: false
r_eef_pick_link:
Value: false
r_elbow_link:
Value: false
r_forearm_link:
Value: false
r_hand_link:
Value: false
r_index_tip_link:
Value: false
r_indexbase_link:
Value: false
r_indexend_link:
Value: false
r_indexmid_link:
Value: false
r_shoulder_center:
Value: false
r_shoulder_link:
Value: false
r_thumb_link:
Value: false
r_thumb_tip_link:
Value: false
r_upperarm_link:
Value: false
r_wrist_center:
Value: false
r_wrist_r_link:
Value: false
rear_camera_base_link:
Value: false
rear_camera_link:
Value: false
rear_camera_right_ir_frame:
Value: false
waist_link:
Value: false
wheel_base_link:
Value: false
wheels_base_laser_link:
Value: false
wheels_front_left_mecanum:
Value: false
wheels_front_right_mecanum:
Value: false
wheels_rear_left_mecanum:
Value: false
wheels_rear_right_mecanum:
Value: false
wheels_top_link:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
wheel_base_link:
front_camera_base_link:
front_camera_link:
front_camera_right_ir_frame:
{}
rear_camera_base_link:
rear_camera_link:
rear_camera_right_ir_frame:
{}
wheels_base_laser_link:
{}
wheels_front_left_mecanum:
{}
wheels_front_right_mecanum:
{}
wheels_rear_left_mecanum:
{}
wheels_rear_right_mecanum:
{}
wheels_top_link:
lifter_base_link:
leg_shank_link:
leg_knee_link:
leg_thigh_link:
leg_base_link:
lifter_top_link:
waist_link:
hip_sphere_link:
hip_center:
body_link:
l_shoulder_link:
l_shoulder_center:
l_upperarm_link:
l_elbow_link:
l_forearm_link:
l_wrist_center:
l_wrist_r_link:
l_hand_link:
l_eef_grasp_link:
{}
l_eef_pick_link:
{}
l_indexbase_link:
l_indexmid_link:
l_indexend_link:
l_index_tip_link:
{}
l_thumb_link:
l_thumb_tip_link:
{}
neck_link:
head_base_link:
head_link:
camera_frame:
camera_optical_frame:
{}
r_shoulder_link:
r_shoulder_center:
r_upperarm_link:
r_elbow_link:
r_forearm_link:
r_wrist_center:
r_wrist_r_link:
r_hand_link:
r_eef_grasp_link:
{}
r_eef_pick_link:
{}
r_indexbase_link:
r_indexmid_link:
r_indexend_link:
r_index_tip_link:
{}
r_thumb_link:
r_thumb_tip_link:
{}
leg_thigh_link_dummy:
{}
leg_shank_link_dummy:
{}
Update Interval: 0
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; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1637
Min Color: 0; 0; 0
Min Intensity: 309
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.00999999978
Style: Points
Topic: /scan
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/LaserScan
Color: 255; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 0
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: rear_camera_laser
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.00999999978
Style: Points
Topic: /rear_camera_scan
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/LaserScan
Color: 255; 255; 0
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: front_camera_laser
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.100000001
Style: Points
Topic: /front_camera_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: local_cost_map
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: false
Name: global_cost_map
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
- Class: jsk_rviz_plugin/PieChart
Enabled: true
Name: Battery
Topic: /seed_r7_ros_controller/voltage
Value: true
auto color change: false
background color: 0; 0; 0
backround alpha: 0
foreground alpha: 0.699999988
foreground alpha 2: 0.400000006
foreground color: 25; 255; 240
left: 0
max color: 255; 0; 0
max value: 26
min value: 22.2000008
show caption: true
size: 128
text size: 20
top: 0
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/Pose
Color: 0; 0; 255
Enabled: true
Head Length: 0.300000012
Head Radius: 0.200000003
Name: Pose
Shaft Length: 0.5
Shaft Radius: 0.100000001
Shape: Arrow
Topic: /move_base/current_goal
Unreliable: false
Value: true
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: PoseArray
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /move_base/TebLocalPlannerROS/teb_poses
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/NavfnROS/plan
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /front_camera/camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: map
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
Topic: /initialpose
- 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: 3.37457776
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0541027598
Y: 0.257317513
Z: 0.39931789
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.459796607
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.830904841
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
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Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1863
X: 57
Y: 24