Add NAV2 RViz2 GUI module template

.gitignore

@@ -0,0 +1,5 @@
+build/
+install/
+log/
+__pycache__/
+*.pyc

build.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
+exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$(basename "$MODULE_PATH")" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}"

run.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
+FOLDER_NAME="$(basename "$MODULE_PATH")"
+CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
+exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "$@"

src/gui_pkg/gui_pkg/test.py

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+def main():
+    print('Hi from gui_pkg.')
+
+
+if __name__ == '__main__':
+    main()

src/gui_pkg/launch/gui.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('rviz_config',
+                          default_value='nav2',
+                          choices=['nav2', 'slam', 'fixed_path']),
+]
+
+
+def launch_setup(context, *args, **kwargs):
+    rviz_config  = LaunchConfiguration('rviz_config').perform(context)
+
+    rviz_config_path = os.path.join(
+        get_package_share_directory('gui_pkg'), 'rviz', f'{rviz_config}.rviz'
+    )
+
+    return [
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config_path],
+            parameters=[{'use_sim_time': True}],
+        ),
+    ]
+
+
+def generate_launch_description():
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld

src/gui_pkg/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>gui_pkg</name>
+  <version>0.0.0</version>
+  <description>RViz2 visualization module for NAV2 learning environments.</description>
+  <maintainer email="jang1future@gmail.com">dgist</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/gui_pkg/rviz/carla.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /LaserScan1
+        - /Controller1
+        - /Controller1/Local Costmap1
+      Splitter Ratio: 0.5833333134651184
+    Tree Height: 462
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: nav2_rviz_plugins/Navigation 2
+    Name: Navigation 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/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: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: ""
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        hero:
+          Value: true
+        hero/lidar:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            hero:
+              hero/lidar:
+                {}
+      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_default_plugins/LaserScan
+      Color: 237; 51; 59
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 6
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+      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_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: false
+      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
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /mobile_base/sensors/bumper_pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: nav2_rviz_plugins/ParticleCloud
+      Color: 0; 180; 0
+      Enabled: false
+      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: false
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.30000001192092896
+          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
+          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
+            Filter size: 10
+            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
+          Class: rviz_default_plugins/Map
+          Color Scheme: raw
+          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
+            Filter size: 10
+            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
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /intel_realsense_r200_depth/points
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: false
+      Name: Realsense
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /waypoints
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        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
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 74.30464935302734
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 932
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Navigation 2:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000020b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000024e000001390000013900fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RealsenseCamera:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1545
+  X: 168
+  Y: 61

src/gui_pkg/rviz/fixed_path.rviz

@@ -0,0 +1,363 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /LaserScan1
+        - /Controller1
+        - /Controller1/Local Costmap1
+      Splitter Ratio: 0.5833333134651184
+    Tree Height: 462
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/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: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: ""
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        hero:
+          Value: true
+        hero/lidar:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            hero:
+              hero/lidar:
+                {}
+      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_default_plugins/LaserScan
+      Color: 237; 51; 59
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 6
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: nav2_rviz_plugins/ParticleCloud
+      Color: 0; 180; 0
+      Enabled: false
+      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: false
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.30000001192092896
+          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: 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
+      Enabled: true
+      Name: Global Planner
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.699999988079071
+          Class: rviz_default_plugins/Map
+          Color Scheme: raw
+          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
+        - 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
+      Enabled: true
+      Name: Controller
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: -1.5707999467849731
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 74.30464935302734
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 932
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1545
+  X: 168
+  Y: 61

src/gui_pkg/rviz/nav2.rviz

@@ -0,0 +1,599 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /LaserScan1
+        - /Controller1
+        - /Controller1/Local Costmap1
+        - /PointCloud21
+      Splitter Ratio: 0.5833333134651184
+    Tree Height: 462
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: nav2_rviz_plugins/Navigation 2
+    Name: Navigation 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/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: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: ""
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      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: 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/LaserScan
+      Color: 237; 51; 59
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 6
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+      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_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: false
+      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
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /mobile_base/sensors/bumper_pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: nav2_rviz_plugins/ParticleCloud
+      Color: 0; 180; 0
+      Enabled: false
+      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: false
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.30000001192092896
+          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
+          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
+            Filter size: 10
+            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
+          Class: rviz_default_plugins/Map
+          Color Scheme: raw
+          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
+            Filter size: 10
+            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
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /intel_realsense_r200_depth/points
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: false
+      Name: Realsense
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /waypoints
+      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_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      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: PointCloud2
+      Position Transformer: ""
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /lidar_filtered
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        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
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 74.30464935302734
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 932
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Navigation 2:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000020b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000024e000001390000013900fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RealsenseCamera:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1545
+  X: 168
+  Y: 61

src/gui_pkg/rviz/slam.rviz

@@ -0,0 +1,152 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /LaserScan1
+        - /Map1
+      Splitter Ratio: 0.58
+    Tree Height: 520
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Name: Tool Properties
+    Splitter Ratio: 0.58
+  - Class: rviz_common/Views
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Enabled: true
+      Name: Grid
+      Plane: XY
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        os_imu:
+          Value: true
+        os_sensor:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_link:
+              os_imu:
+                {}
+              os_sensor:
+                {}
+      Value: true
+    - Class: rviz_default_plugins/LaserScan
+      Enabled: true
+      Name: LaserScan
+      Size (Pixels): 4
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+      Use Fixed Frame: true
+      Value: true
+    - Class: rviz_default_plugins/Map
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    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/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        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:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 27
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Pitch: 1.2
+      Target Frame: map
+      Yaw: 0.8
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 980
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001a60000035bfc0200000008fb000000100044006900730070006c00610079007301000000000000016d0000016400fffffffb0000001200530065006c0065006300740069006f006e0000000173000000e10000009b00fffffffb000000160054006f006f006c002000500072006f0070006500720074006900650073010000025a000000d1000000a700fffffffb0000000a00560069006500770073010000032f0000002c0000009300ffffff000000010000035c0000035bfc0200000001fb0000000a0056006900650077007303000000000000035b000000a700ffffff00000003000005e00000005dfc0100000002fb000000080054006f006f006c00730100000000000005e0000000b700fffffffb0000000a005600690065007700730100000000000005e0000000a700ffffff000000000000000000000004000000040000000800000008fc00000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1680
+  X: 120
+  Y: 80

src/gui_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/gui_pkg
+[install]
+install_scripts=$base/lib/gui_pkg

src/gui_pkg/setup.py

@@ -0,0 +1,35 @@
+
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'gui_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'rviz'), glob('rviz/*.rviz')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='dgist',
+    maintainer_email='jang1future@gmail.com',
+    description='RViz2 visualization module for NAV2 learning environments.',
+    license='Apache-2.0',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+            'test = gui_pkg.test:main'
+        ],
+    },
+)

src/gui_pkg/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/gui_pkg/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/gui_pkg/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'