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robot-dog-mgu-mors/mors_base/mors/rviz/rviz_params.rviz

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Panels:
- Class: rviz/Displays
Help Height: 197
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /TF1/Tree1
- /Global Map1/Costmap1
- /DepthCloud1/Auto Size1
Splitter Ratio: 0.6167664527893066
Tree Height: 1284
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 170; 170; 127
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: 25
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
abad_L1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
abad_L2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
abad_R1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
abad_R2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
ef_L1:
Alpha: 1
Show Axes: false
Show Trail: false
ef_L2:
Alpha: 1
Show Axes: false
Show Trail: false
ef_R1:
Alpha: 1
Show Axes: false
Show Trail: false
ef_R2:
Alpha: 1
Show Axes: false
Show Trail: false
hip_L1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip_L2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip_R1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip_R2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
knee_L1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
knee_L2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
knee_R1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
knee_R2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
scan_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
abad_L1:
Value: false
abad_L2:
Value: false
abad_R1:
Value: false
abad_R2:
Value: false
base_footprint:
Value: false
base_inertia:
Value: false
base_link:
Value: true
camera_frame:
Value: false
ef_L1:
Value: false
ef_L2:
Value: false
ef_R1:
Value: false
ef_R2:
Value: false
hip_L1:
Value: false
hip_L2:
Value: false
hip_R1:
Value: false
hip_R2:
Value: false
imu_link:
Value: false
knee_L1:
Value: false
knee_L2:
Value: false
knee_R1:
Value: false
knee_R2:
Value: false
map:
Value: false
odom:
Value: false
scan_frame:
Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
map:
odom:
base_footprint:
base_link:
abad_L1:
hip_L1:
knee_L1:
ef_L1:
{}
abad_L2:
hip_L2:
knee_L2:
ef_L2:
{}
abad_R1:
hip_R1:
knee_R1:
ef_R1:
{}
abad_R2:
hip_R2:
knee_R2:
ef_R2:
{}
base_inertia:
{}
camera_frame:
{}
imu_link:
{}
scan_frame:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 20.6611385345459
Min Value: -1.0189396142959595
Value: true
Axis: X
Channel Name: intensities
Class: rviz/LaserScan
Color: 239; 41; 41
Color Transformer: FlatColor
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): 0.10000000149011612
Style: Spheres
Topic: scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic: map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 0.5
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Costmap
Topic: move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 170; 0; 0
Enabled: true
Head Diameter: 0.029999999329447746
Head Length: 0.019999999552965164
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Planner
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.05000000074505806
Shaft Length: 0.009999999776482582
Topic: move_base/GlobalPlanner/plan
Unreliable: false
Value: true
Enabled: true
Name: Global Map
- Class: rviz/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/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: Planner
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.800000011920929
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: total_cost
Class: rviz/PointCloud2
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: Cost Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Flat Squares
Topic: /move_base/DWAPlannerROS/cost_cloud
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: total_cost
Class: rviz/PointCloud2
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: Trajectory Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Flat Squares
Topic: /move_base/DWAPlannerROS/trajectory_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
Enabled: true
Name: Local Map
- Alpha: 0.20000000298023224
Arrow Length: 0.019999999552965164
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 0; 255
Enabled: false
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: Amcl Particle Swarm
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /occupied_cells_vis_array
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 1
Auto Size:
Auto Size Factor: 1
Value: true
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.0605849027633667
Min Value: 0.0003548264503479004
Value: true
Axis: Z
Channel Name: rgb
Class: rviz/DepthCloud
Color: 0; 0; 127
Color Image Topic: ""
Color Transformer: FlatColor
Color Transport Hint: raw
Decay Time: 0
Depth Map Topic: /camera/depth/image_rect_raw
Depth Map Transport Hint: raw
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: DepthCloud
Occlusion Compensation:
Occlusion Time-Out: 30
Value: false
Position Transformer: XYZ
Queue Size: 5
Selectable: true
Size (Pixels): 3
Style: Flat Squares
Topic Filter: true
Use Fixed Frame: true
Use rainbow: true
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/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /camera/depth/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: rgb_camera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/depth/image_rect_raw
Max Value: 5
Median window: 5
Min Value: 1
Name: depth_camera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/MoveCamera
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- 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/Measure
- Class: rviz/PublishPoint
Single click: true
Topic: clicked_point
Value: true
Views:
Current:
Angle: 0
Class: rviz/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: 245.9645538330078
Target Frame: <Fixed Frame>
X: 2.113638401031494
Y: -2.6502304077148438
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1805
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000026a00000671fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000006e00000671000001bc01000039fa000000010100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000010b00fffffffb000000100044006900730070006c0061007900730100000000000001f1000001f700fffffffb00000014007200670062005f00630061006d00650072006100000006dc000002760000002600fffffffb0000001800640065007000740068005f00630061006d006500720061000000076f000001e30000002600fffffffb0000000c00430061006d00650072006100000007ef000001630000000000000000000000010000015f00000671fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000006710000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000077d00fffffffb0000000800540069006d00650100000000000004500000000000000000000007b30000067100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2964
X: 1101
Y: 411
depth_camera:
collapsed: false
rgb_camera:
collapsed: false
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