Octagon nav rviz settings

antoan · May 31, 2022 · 14aeaaa · 14aeaaa
1 parent 0c3907b
commit 14aeaaa
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Showing 2 changed files with 79 additions and 102 deletions.
diff --git a/nemesis_navigation/rviz/nemesis_navigation.rviz b/nemesis_navigation/rviz/nemesis_navigation.rviz
@@ -13,6 +13,7 @@ Panels:
         - /Local Map1
         - /Local Map1/Planner1
         - /MapCloud1
+        - /Info1
       Splitter Ratio: 0.5
     Tree Height: 907
   - Class: rviz/Selection
@@ -32,7 +33,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: Info
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -182,7 +183,7 @@ Visualization Manager:
       Buffer Length: 1
       Class: rviz/Path
       Color: 0; 0; 0
-      Enabled: true
+      Enabled: false
       Head Diameter: 0.30000001192092896
       Head Length: 0.20000000298023224
       Length: 0.30000001192092896
@@ -201,7 +202,7 @@ Visualization Manager:
       Shaft Length: 0.10000000149011612
       Topic: /planner/move_base/NavfnROS/plan
       Unreliable: false
-      Value: true
+      Value: false
     - Class: rviz/Group
       Displays:
         - Alpha: 0.699999988079071
@@ -235,7 +236,7 @@ Visualization Manager:
           Radius: 0.029999999329447746
           Shaft Diameter: 0.10000000149011612
           Shaft Length: 0.10000000149011612
-          Topic: /planner/move_base/TrajectoryPlannerROS/global_plan
+          Topic: /planner/move_base/DWAPlannerROS/global_plan
           Unreliable: false
           Value: true
       Enabled: true
@@ -282,7 +283,7 @@ Visualization Manager:
           Radius: 0.029999999329447746
           Shaft Diameter: 0.10000000149011612
           Shaft Length: 0.10000000149011612
-          Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
+          Topic: /planner/move_base/DWAPlannerROS/local_plan
           Unreliable: false
           Value: true
       Enabled: true
@@ -345,7 +346,7 @@ Visualization Manager:
       Enabled: true
       Name: Info
       Queue Size: 10
-      Topic: ""
+      Topic: /rtabmap/info
       Unreliable: false
       Value: true
   Enabled: true
@@ -366,13 +367,13 @@ Visualization Manager:
       X std deviation: 0.5
       Y std deviation: 0.5
     - Class: rviz/SetGoal
-      Topic: "/planner_goal\n"
+      Topic: /planner_goal
     - Class: rviz/Measure
   Value: true
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 14.359750747680664
+      Distance: 8.238776206970215
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -388,9 +389,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7947964668273926
+      Pitch: 1.0897963047027588
       Target Frame: <Fixed Frame>
-      Yaw: 3.3231849670410156
+      Yaw: 2.4431848526000977
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/nemesis_viz/rviz/model_and_sensors.rviz b/nemesis_viz/rviz/model_and_sensors.rviz
@@ -6,12 +6,14 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /Grid1
         - /RobotModel1
         - /RobotModel1/Links1
         - /Odometry1
         - /Odometry1/Shape1
+        - /ColorOccupancyGrid1
       Splitter Ratio: 0.5
-    Tree Height: 511
+    Tree Height: 878
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -53,76 +55,72 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 10
+      Plane Cell Count: 50
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
-      Enabled: true
+      Enabled: false
       Links:
         All Links Enabled: true
         Expand Joint Details: false
         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
-        chassis_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        foundation_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rear_right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
       Update Interval: 0
-      Value: true
+      Value: false
       Visual Enabled: true
-    - Class: rviz/Image
+    - 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: false
       Enabled: true
-      Image Topic: /d435i/aligned_depth_to_color/image_raw
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.10000000149011612
+        Head Radius: 0.10000000149011612
+        Shaft Length: 0.10000000149011612
+        Shaft Radius: 0.004999999888241291
+        Value: Arrow
+      Topic: /t265/odom/sample
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /d435i/color/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0
       Name: Image
       Normalize Range: true
       Queue Size: 2
-      Transport Hint: raw
+      Transport Hint: compressed
       Unreliable: false
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -135,7 +133,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -146,50 +144,28 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.009999999776482582
       Style: Flat Squares
-      Topic: /d435i/depth/color/points
+      Topic: /voxel_cloud
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      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
+      Value: false
+    - Class: octomap_rviz_plugin/ColorOccupancyGrid
       Enabled: true
-      Keep: 100
-      Name: 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: 0.004999999888241291
-        Value: Arrow
-      Topic: /t265/odom/sample
-      Unreliable: false
+      Max. Height Display: 3.4028234663852886e+38
+      Max. Octree Depth: 16
+      Min. Height Display: -3.4028234663852886e+38
+      Name: ColorOccupancyGrid
+      Octomap Topic: /rtabmap/octomap_full
+      Queue Size: 5
       Value: true
+      Voxel Alpha: 1
+      Voxel Coloring: Z-Axis
+      Voxel Rendering: Occupied Voxels
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: t265_odom_frame
+    Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:
@@ -213,35 +189,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.1381654739379883
+      Distance: 6.866063594818115
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 0
         Y: 0
         Z: 0
-      Focal Shape Fixed Size: true
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2453984171152115
+      Pitch: 1.0953980684280396
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.993586540222168
+      Yaw: 2.455397129058838
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: false
-  Height: 1016
-  Hide Left Dock: false
+    collapsed: true
+  Height: 1136
+  Hide Left Dock: true
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000358fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e0000028b000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002cf000000c70000001600ffffff000000010000010f00000358fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e00000358000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002b900fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003f9fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000016000003f9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000032c000000e30000001600fffffffb0000000a0049006d006100670065010000034f000000c00000000000000000000000010000010f000003f9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000016000003f9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003f900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: