as24ws/visualization.rviz at master · sitahara/as24ws · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Drone odometry1/Shape1
      Splitter Ratio: 0.5
    Tree Height: 183
  - 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: RGB Image
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Drone
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: body
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /occupied_cells_vis_array
      Name: Map
      Namespaces:
        map: true
      Queue Size: 100
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /realsense/rgb/left_image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: RGB Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /realsense/depth/image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Depth Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /unity_ros/Quadrotor/Sensors/SemanticCamera/image_raw
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Semantic Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.10000000149011612
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.30000001192092896
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 5
      Name: Drone odometry
      Position Tolerance: 0.10000000149011612
      Queue Size: 10
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.10000000149011612
        Color: 255; 25; 0
        Head Length: 3
        Head Radius: 1
        Shaft Length: 5
        Shaft Radius: 1
        Value: Arrow
      Topic: /current_state_est
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Length: 0.30000001192092896
      Axes Length: 10
      Axes Radius: 2
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: Object Lcoations
      Queue Size: 10
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Axes
      Topic: /object_location
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - 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
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 1350.672119140625
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 80.69111633300781
        Y: -65.22632598876953
        Z: 35.78377914428711
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.08539868146181107
      Target Frame: body
      Yaw: 0.19228170812129974
    Saved: ~
Window Geometry:
  Depth Image:
    collapsed: false
  Displays:
    collapsed: false
  Height: 1043
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000002b300000375fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000142000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001200520047004200200049006d006100670065010000003d000000ff0000001600fffffffb000000160044006500700074006800200049006d00610067006501000001420000012a0000001600fffffffb0000001c00530065006d0061006e00740069006300200049006d0061006700650100000272000001400000001600ffffff000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  RGB Image:
    collapsed: false
  Selection:
    collapsed: false
  Semantic Image:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1920
  X: 0
  Y: 520