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update rviz

This commit is contained in:
litian.zhuang 2022-03-11 19:04:42 +08:00
parent de273bb0c1
commit b7698ad07e
1 changed files with 77 additions and 31 deletions
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108
src/spark/spark_teleop/rviz/teleop_d435.rviz
View File

@ -4,11 +4,9 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /TF1
- /TF1/Frames1
- /PointCloud21
Splitter Ratio: 0.5
Tree Height: 150
Tree Height: 140
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -17,7 +15,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@ -28,6 +26,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -39,7 +39,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -174,15 +174,24 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
laser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
@ -273,8 +282,12 @@ Visualization Manager:
Value: false
ir_bumper_right_link:
Value: false
laser_frame:
Value: true
left_wheel_link:
Value: false
lidar_bottom_screw_frame:
Value: true
lidar_link:
Value: false
odom:
@ -285,6 +298,7 @@ Visualization Manager:
Value: false
spark_stack:
Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
@ -301,14 +315,14 @@ Visualization Manager:
camera_bottom_screw_frame:
camera_link:
camera_aligned_depth_to_color_frame:
camera_color_optical_frame:
{}
{}
camera_aligned_depth_to_infra1_frame:
camera_infra1_optical_frame:
{}
camera_color_frame:
{}
camera_depth_frame:
camera_color_frame:
camera_color_optical_frame:
{}
camera_depth_optical_frame:
{}
camera_left_ir_frame:
@ -349,14 +363,17 @@ Visualization Manager:
{}
left_wheel_link:
{}
lidar_link:
{}
lidar_bottom_screw_frame:
lidar_link:
{}
right_wheel_link:
{}
room_base_link:
{}
spark_stack:
{}
laser_frame:
{}
Update Interval: 0
Value: true
- Class: rviz/Image
@ -374,8 +391,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.734114885
Min Value: -1.92792726
Max Value: 24.765522003173828
Min Value: -0.49686479568481445
Value: true
Axis: Z
Channel Name: intensity
@ -386,21 +403,47 @@ Visualization Manager:
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: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /camera/depth_registered/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -416,7 +459,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
@ -426,35 +472,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 2.45080876
Distance: 4.319162368774414
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
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
X: 0.07904946058988571
Y: -0.19301681220531464
Z: 0.4773929715156555
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.67539835
Near Clip Distance: 0.009999999776482582
Pitch: 0.4103982150554657
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.52539748
Yaw: 2.0503973960876465
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 576
Height: 536
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000d7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000105000000d90000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -463,6 +509,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 959
X: 65
Y: 24
Width: 952
X: 72
Y: 27