Autonomy Studio
364 lines
9.6 KiB
YAML
364 lines
9.6 KiB
YAML
Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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- /TF1/Tree1
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- /LaserScan1
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- /Controller1
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- /Controller1/Local Costmap1
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Splitter Ratio: 0.5833333134651184
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Tree Height: 462
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: ""
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: false
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Visual Enabled: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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hero:
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Value: true
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hero/lidar:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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map:
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odom:
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hero:
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hero/lidar:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/LaserScan
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Color: 237; 51; 59
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 0
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: LaserScan
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 6
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /scan
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/Map
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Color Scheme: map
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Draw Behind: true
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Enabled: true
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Name: Map
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Topic:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map_updates
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Class: nav2_rviz_plugins/ParticleCloud
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Color: 0; 180; 0
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Enabled: false
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Max Arrow Length: 0.30000001192092896
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Min Arrow Length: 0.019999999552965164
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Name: Amcl Particle Swarm
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Shape: Arrow (Flat)
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /particle_cloud
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Value: false
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- Class: rviz_common/Group
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Displays:
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- Alpha: 0.30000001192092896
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Class: rviz_default_plugins/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: true
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Name: Global Costmap
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Topic:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /global_costmap/costmap
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /global_costmap/costmap_updates
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz_default_plugins/Path
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Color: 255; 0; 0
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Enabled: true
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Head Diameter: 0.019999999552965164
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Head Length: 0.019999999552965164
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: Path
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: Arrows
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Radius: 0.029999999329447746
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Shaft Diameter: 0.004999999888241291
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Shaft Length: 0.019999999552965164
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /plan
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Value: true
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Enabled: true
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Name: Global Planner
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- Class: rviz_common/Group
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Displays:
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- Alpha: 0.699999988079071
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Class: rviz_default_plugins/Map
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Color Scheme: raw
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Draw Behind: false
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Enabled: true
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Name: Local Costmap
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Topic:
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Depth: 1
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /local_costmap/costmap
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /local_costmap/costmap_updates
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz_default_plugins/Path
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Color: 0; 12; 255
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: Local Plan
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /local_plan
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/Polygon
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Color: 25; 255; 0
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Enabled: true
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Name: Polygon
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /local_costmap/published_footprint
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Value: true
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Enabled: true
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Name: Controller
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Angle: -1.5707999467849731
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Class: rviz_default_plugins/TopDownOrtho
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Scale: 74.30464935302734
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Target Frame: <Fixed Frame>
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Value: TopDownOrtho (rviz_default_plugins)
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X: 0
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Y: 0
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 932
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Hide Left Dock: false
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Hide Right Dock: true
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1545
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X: 168
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Y: 61
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