# Copyright 2016 The Cartographer Authors # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Submaps1 - /PointCloud23 - /PointCloud23/Autocompute Value Bounds1 Splitter Ratio: 0.600671 Tree Height: 817 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: PointCloud2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.03 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 100 Reference Frame: Value: true - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true base_link: Value: true horizontal_vlp16_link: Value: true imu_link: Value: true map: Value: true odom: Value: true vertical_vlp16_link: Value: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: map: odom: base_link: horizontal_vlp16_link: {} imu_link: {} vertical_vlp16_link: {} Update Interval: 0 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 base_link: Alpha: 1 Show Axes: false Show Trail: false horizontal_vlp16_link: Alpha: 1 Show Axes: false Show Trail: false Value: true imu_link: Alpha: 1 Show Axes: false Show Trail: false Value: true vertical_vlp16_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 - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 7.6265 Min Value: 5.66667 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 20; 220; 20 Color Transformer: FlatColor Decay Time: 0.1 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 200 Selectable: true Size (Pixels): 3 Size (m): 0.03 Style: Flat Squares Topic: /horizontal_laser_3d Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5.6087 Min Value: 3.77875 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 240; 220; 20 Color Transformer: FlatColor Decay Time: 0.1 Enabled: false Invert Rainbow: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 200 Selectable: true Size (Pixels): 3 Size (m): 0.03 Style: Flat Squares Topic: /vertical_laser_3d Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Class: Submaps Enabled: true Name: Submaps Submap query service: /submap_query Topic: /submap_list Tracking frame: base_link Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: false Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 0; 255; 0 Color Transformer: AxisColor 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: PointCloud2 Position Transformer: XYZ Queue Size: 20 Selectable: true Size (Pixels): 3 Size (m): 0.05 Style: Flat Squares Topic: /scan_matched_points2 Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /trajectory_node_list Name: Trajectories Namespaces: "": true Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /landmark_poses_list Name: Landmark Poses Namespaces: "": true Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /constraint_list Name: Constraints Namespaces: "": true Queue Size: 100 Value: true Enabled: true Global Options: Background Color: 100; 100; 100 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 Topic: /initialpose - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Angle: 0 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Name: Current View Near Clip Distance: 0.01 Scale: 10 Target Frame: Value: TopDownOrtho (rviz) X: 0 Y: 0 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1123 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1918 X: 0 Y: 24