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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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102
src/spark/spark_teleop/rviz/teleop_d435.rviz
View File

@ -4,11 +4,9 @@ Panels:
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /TF1
- /TF1/Frames1 - /TF1/Frames1
- /PointCloud21
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 150 Tree Height: 140
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -17,7 +15,7 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
@ -28,6 +26,8 @@ Panels:
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: Image SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -39,7 +39,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -174,15 +174,24 @@ Visualization Manager:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
laser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
left_wheel_link: left_wheel_link:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
lidar_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
lidar_link: lidar_link:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true
right_wheel_link: right_wheel_link:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
@ -273,8 +282,12 @@ Visualization Manager:
Value: false Value: false
ir_bumper_right_link: ir_bumper_right_link:
Value: false Value: false
laser_frame:
Value: true
left_wheel_link: left_wheel_link:
Value: false Value: false
lidar_bottom_screw_frame:
Value: true
lidar_link: lidar_link:
Value: false Value: false
odom: odom:
@ -285,6 +298,7 @@ Visualization Manager:
Value: false Value: false
spark_stack: spark_stack:
Value: false Value: false
Marker Alpha: 1
Marker Scale: 1 Marker Scale: 1
Name: TF Name: TF
Show Arrows: true Show Arrows: true
@ -301,14 +315,14 @@ Visualization Manager:
camera_bottom_screw_frame: camera_bottom_screw_frame:
camera_link: camera_link:
camera_aligned_depth_to_color_frame: camera_aligned_depth_to_color_frame:
camera_color_optical_frame:
{} {}
camera_aligned_depth_to_infra1_frame: camera_aligned_depth_to_infra1_frame:
camera_infra1_optical_frame: camera_infra1_optical_frame:
{} {}
camera_color_frame:
{}
camera_depth_frame: camera_depth_frame:
camera_color_frame:
camera_color_optical_frame:
{}
camera_depth_optical_frame: camera_depth_optical_frame:
{} {}
camera_left_ir_frame: camera_left_ir_frame:
@ -349,6 +363,7 @@ Visualization Manager:
{} {}
left_wheel_link: left_wheel_link:
{} {}
lidar_bottom_screw_frame:
lidar_link: lidar_link:
{} {}
right_wheel_link: right_wheel_link:
@ -357,6 +372,8 @@ Visualization Manager:
{} {}
spark_stack: spark_stack:
{} {}
laser_frame:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
- Class: rviz/Image - Class: rviz/Image
@ -374,8 +391,8 @@ Visualization Manager:
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
Max Value: 0.734114885 Max Value: 24.765522003173828
Min Value: -1.92792726 Min Value: -0.49686479568481445
Value: true Value: true
Axis: Z Axis: Z
Channel Name: intensity Channel Name: intensity
@ -386,21 +403,47 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2 Name: PointCloud2
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.00999999978 Size (m): 0.009999999776482582
Style: Flat Squares Style: Flat Squares
Topic: /camera/depth_registered/points Topic: /camera/depth_registered/points
Unreliable: false Unreliable: false
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
Value: 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 Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@ -416,7 +459,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -426,35 +472,35 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 2.45080876 Distance: 4.319162368774414
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0 X: 0.07904946058988571
Y: 0 Y: -0.19301681220531464
Z: 0 Z: 0.4773929715156555
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.67539835 Pitch: 0.4103982150554657
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Yaw: 2.0503973960876465
Yaw: 0.52539748
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 576 Height: 536
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: true Hide Right Dock: true
Image: Image:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000d7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000105000000d90000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -463,6 +509,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: true collapsed: true
Width: 959 Width: 952
X: 65 X: 72
Y: 24 Y: 27