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study.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Grid1
Splitter Ratio: 0.4953617751598358
Tree Height: 694
- 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
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
- Class: rviz_plugin_tutorials/Teleop
Name: Teleop
Topic: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 3
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 0.10000000149011612
Class: rviz/Grid
Color: 160; 160; 164
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: 4000
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.10000000149011612
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
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bellows_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bellows_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
estop_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_fixed_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upperarm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_roll_link:
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
Frame Timeout: 15
Frames:
All Enabled: false
DetectedObject_0:
Value: true
DetectedObject_1:
Value: true
DetectedObject_2:
Value: true
DetectedObject_3:
Value: true
DetectedObject_4:
Value: true
DetectedObject_5:
Value: true
DetectedObject_6:
Value: true
base_link:
Value: true
bellows_link:
Value: false
bellows_link2:
Value: false
caddy_0:
Value: true
caddy_0_gearbox_compartment:
Value: true
caddy_0_gears_compartment:
Value: true
caddy_0_handle_center:
Value: true
caddy_0_screw_compartment:
Value: true
caddy_1:
Value: true
caddy_1_gearbox_compartment:
Value: true
caddy_1_gears_compartment:
Value: true
caddy_1_handle_center:
Value: true
caddy_1_screw_compartment:
Value: true
elbow_flex_link:
Value: false
estop_link:
Value: false
forearm_roll_link:
Value: false
gripper_link:
Value: false
head_camera_depth_frame:
Value: false
head_camera_depth_optical_frame:
Value: false
head_camera_link:
Value: false
head_camera_rgb_frame:
Value: false
head_camera_rgb_optical_frame:
Value: false
head_pan_link:
Value: false
head_tilt_link:
Value: false
l_gripper_finger_link:
Value: false
l_wheel_link:
Value: false
laser_link:
Value: false
map:
Value: true
odom:
Value: true
r_gripper_finger_link:
Value: false
r_wheel_link:
Value: false
shoulder_lift_link:
Value: false
shoulder_pan_link:
Value: false
torso_fixed_link:
Value: false
torso_lift_link:
Value: false
upperarm_roll_link:
Value: false
wrist_flex_link:
Value: false
wrist_roll_link:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
DetectedObject_0:
{}
DetectedObject_1:
{}
DetectedObject_2:
{}
DetectedObject_3:
{}
DetectedObject_4:
{}
DetectedObject_5:
{}
DetectedObject_6:
{}
caddy_0:
{}
caddy_0_gearbox_compartment:
{}
caddy_0_gears_compartment:
{}
caddy_0_handle_center:
{}
caddy_0_screw_compartment:
{}
caddy_1:
{}
caddy_1_gearbox_compartment:
{}
caddy_1_gears_compartment:
{}
caddy_1_handle_center:
{}
caddy_1_screw_compartment:
{}
estop_link:
{}
l_wheel_link:
{}
laser_link:
{}
r_wheel_link:
{}
torso_fixed_link:
{}
torso_lift_link:
bellows_link:
{}
bellows_link2:
{}
head_pan_link:
head_tilt_link:
head_camera_link:
head_camera_depth_frame:
head_camera_depth_optical_frame:
{}
head_camera_rgb_frame:
head_camera_rgb_optical_frame:
{}
shoulder_pan_link:
shoulder_lift_link:
upperarm_roll_link:
elbow_flex_link:
forearm_roll_link:
wrist_flex_link:
wrist_roll_link:
gripper_link:
l_gripper_finger_link:
{}
r_gripper_finger_link:
{}
Update Interval: 0
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; 0; 0
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): 0.009999999776482582
Style: Points
Topic: /base_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: false
Name: Global Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.10000000149011612
Line Style: Billboards
Line Width: 0.009999999776482582
Name: Global Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Axes
Radius: 0.009999999776482582
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 0; 255
Enabled: true
Head Diameter: 0.029999999329447746
Head Length: 0.019999999552965164
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.029999999329447746
Name: Local Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.009999999776482582
Shaft Length: 0.004999999888241291
Topic: /move_base/TrajectoryPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Goal Pose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base/current_goal
Unreliable: false
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/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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /head_camera/depth_downsample/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic: /move_base/global_costmap/footprint
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic: /move_base/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic: /move_base/GlobalPlanner/potential
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.28780001401901245
Min Value: 0.28780001401901245
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 252; 233; 79
Color Transformer: FlatColor
Decay Time: 2
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: /base_scan_obstacles_only
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 0.30000001192092896
Style: Spheres
Topic: /base_scan_obstacles_only
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: moveit_rviz_plugin/PlanningScene
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bellows_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bellows_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
estop_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_fixed_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upperarm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
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: 7.459219932556152
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.7623546123504639
Y: 1.1546106338500977
Z: 0.15497806668281555
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4497966170310974
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.5885734558105469
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000021d00000394fc020000000afb0000001200530065006c0065006300740069006f006e01000000500000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000f1000002f3000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067000000036f000000160000000000000000fb0000000c00540065006c0065006f00700000000332000000b10000004700ffffff000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000005000000394000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002b90000005afc0100000002fb0000000800540069006d00650000000000000002b9000004f300fffffffb0000000800540069006d006501000000000000045000000000000000000000051a0000039400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Teleop:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1853
X: 67
Y: 27