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record_x2.rviz
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record_x2.rviz
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Panels:
- Class: rviz/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 282
- 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: ""
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: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: Robot Transforms
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- 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
X1/base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X1/rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: X1 Robot
Robot Description: /X1/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: octomap_rviz_plugin/OccupancyGrid
Enabled: false
Max. Height Display: 3.4028234663852886e+38
Max. Octree Depth: 16
Min. Height Display: -3.4028234663852886e+38
Name: X1 Merged Map
Octomap Topic: /X1/merged_map
Queue Size: 5
Value: false
Voxel Alpha: 1
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X1/occupied_cells_vis_array
Name: X1 Octomap
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X1/voxblox_node/occupied_nodes
Name: X1 Voxblox
Namespaces:
{}
Queue Size: 100
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: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 5.848527908325195
Min Color: 0; 0; 0
Min Intensity: -1.7187031507492065
Name: X1 ESDF
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /X1/voxblox_node/esdf_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- 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: false
Keep: 1
Name: X1 Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /X1/odometry
Unreliable: false
Value: false
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 211; 215; 207
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: X1 Frontiers
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Boxes
Topic: /X1/frontier
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: X1 Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /X1/ma_goal_path
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: X1 Goal
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /X1/ma_goal
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: X1 Nearest Frontier
Radius: 0.20000000298023224
Topic: /X1/nearest_frontier
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /X1/lookahead_vec
Name: X1 Lookahead Vector
Namespaces:
{}
Queue Size: 100
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
X2/base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
X2/rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: X2 Robot
Robot Description: /X2/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: octomap_rviz_plugin/OccupancyGrid
Enabled: true
Max. Height Display: 3.4028234663852886e+38
Max. Octree Depth: 16
Min. Height Display: -3.4028234663852886e+38
Name: X2 Merged Map
Octomap Topic: /X2/merged_map
Queue Size: 5
Value: true
Voxel Alpha: 1
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /X2/occupied_cells_vis_array
Name: X2 Octomap
Namespaces:
map: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /X2/voxblox_node/occupied_nodes
Name: X2 Voxblox
Namespaces:
{}
Queue Size: 100
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: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 3.8485286235809326
Min Color: 0; 0; 0
Min Intensity: -0.9955084323883057
Name: X2 ESDF
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Flat Squares
Topic: /X2/voxblox_node/esdf_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- 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: false
Keep: 1
Name: X2 Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /X2/odometry
Unreliable: false
Value: false
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 211; 215; 207
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: X2 Frontiers
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Boxes
Topic: /X2/frontier
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: X2 Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /X2/ma_goal_path
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: X2 Goal
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /X2/ma_goal
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: X2 Nearest Frontier
Radius: 0.20000000298023224
Topic: /X2/nearest_frontier
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /X2/lookahead_vec
Name: X2 Lookahead Vector
Namespaces:
{}
Queue Size: 100
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: false
Keep: 1
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /Base/neighbors/X1/odometry
Unreliable: false
Value: false
- 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: false
Keep: 1
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /Base/neighbors/X2/odometry
Unreliable: false
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /Base/mbeacons
Name: Beacons
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /Base/martifacts
Name: Artifacts
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: true
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Update Topic: /gui_god/update
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/ThirdPersonFollower
Distance: 6.814720153808594
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3953986167907715
Target Frame: X2/base_link
Value: ThirdPersonFollower (rviz)
Yaw: 3.1404032707214355
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 532
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000019f000001e1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000039500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000016000001e1000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000001e1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000016000001e1000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002eb00000058fc0100000002fb0000000800540069006d00650000000000000002eb000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000209000001e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 521
X: 1483
Y: 277