From 14aeaaa691333c873ddb1ef91239256310afefd4 Mon Sep 17 00:00:00 2001 From: Antoan Bekele Date: Wed, 1 Jun 2022 00:24:26 +0100 Subject: [PATCH] Octagon nav rviz settings --- .../rviz/nemesis_navigation.rviz | 21 +-- nemesis_viz/rviz/model_and_sensors.rviz | 160 ++++++++---------- 2 files changed, 79 insertions(+), 102 deletions(-) diff --git a/nemesis_navigation/rviz/nemesis_navigation.rviz b/nemesis_navigation/rviz/nemesis_navigation.rviz index e112c65..4a9aa02 100644 --- 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: - 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 index 620dc98..d72d86d 100644 --- 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: 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: - 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: