From 8c811e44c9611aa9ae9717aa1b1aaab9bd4a45cd Mon Sep 17 00:00:00 2001 From: mithun <51120171+MithunKinarullathil@users.noreply.github.com> Date: Tue, 4 Apr 2023 12:05:58 +0100 Subject: [PATCH 1/3] Remove IMU visualizer as it is not available anymore. --- files/home/default.rviz | 75 +++++++++++++++++++++-------------------- 1 file changed, 39 insertions(+), 36 deletions(-) diff --git a/files/home/default.rviz b/files/home/default.rviz index 076a8e8..a5296d9 100644 --- a/files/home/default.rviz +++ b/files/home/default.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /Cameras1/Camera Front Image1/Status1 Splitter Ratio: 0.46526655554771423 - Tree Height: 654 + Tree Height: 646 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -24,7 +24,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: Scan Front + SyncSource: "" Preferences: PromptSaveOnExit: true Toolbars: @@ -51,11 +51,10 @@ Visualization Manager: Reference Frame: Value: true - Class: rviz/TF - Enabled: false + Enabled: true Frame Timeout: 15 Frames: All Enabled: false - Marker Alpha: 1 Marker Scale: 1 Name: TF Show Arrows: true @@ -64,7 +63,7 @@ Visualization Manager: Tree: {} Update Interval: 0 - Value: false + Value: true - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map @@ -102,7 +101,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 0; 0 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Scan Front Position Transformer: XYZ Queue Size: 10 @@ -130,7 +131,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 0; 0 + Max Intensity: 4096 Min Color: 255; 170; 0 + Min Intensity: 0 Name: Scan Omni Position Transformer: XYZ Queue Size: 10 @@ -158,7 +161,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Scan Back Position Transformer: XYZ Queue Size: 10 @@ -186,7 +191,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Velodyne Cloud Position Transformer: XYZ Queue Size: 10 @@ -242,7 +249,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Camera Back Points Position Transformer: XYZ Queue Size: 10 @@ -270,7 +279,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Camera Front Points Position Transformer: XYZ Queue Size: 10 @@ -292,7 +303,7 @@ Visualization Manager: Marker Topic: /obstacle_protection_footprint Name: protection_area Namespaces: - footprint: true + {} Queue Size: 100 Value: true - Class: rviz/Marker @@ -333,7 +344,6 @@ Visualization Manager: Head Length: 0.20000000298023224 Head Radius: 0.10000000149011612 Name: Pose AMCL - Queue Size: 10 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Shape: Arrow @@ -364,7 +374,6 @@ Visualization Manager: Head Length: 0.20000000298023224 Head Radius: 0.10000000149011612 Name: Pose AprilTags - Queue Size: 10 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Shape: Arrow @@ -381,7 +390,6 @@ Visualization Manager: Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: PoseArray - Queue Size: 10 Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) @@ -407,7 +415,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Maps Planes Position Transformer: XYZ Queue Size: 10 @@ -435,7 +445,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Maps Edges Position Transformer: XYZ Queue Size: 10 @@ -463,7 +475,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 134 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Submaps Planes Position Transformer: XYZ Queue Size: 10 @@ -491,7 +505,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 240 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Submaps Edges Position Transformer: XYZ Queue Size: 10 @@ -519,7 +535,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Registered Points Position Transformer: XYZ Queue Size: 10 @@ -547,7 +565,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Current Edges Position Transformer: XYZ Queue Size: 10 @@ -575,7 +595,9 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: Current Planes Position Transformer: XYZ Queue Size: 10 @@ -609,7 +631,6 @@ Visualization Manager: Keep: 1 Name: Slam Odometry Position Tolerance: 0.10000000149011612 - Queue Size: 10 Shape: Alpha: 1 Axes Length: 1 @@ -646,7 +667,6 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 @@ -670,7 +690,6 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 @@ -707,16 +726,6 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: false - History Length: 1 - Name: Imu - Queue Size: 10 - Topic: /imu/data/filtered - Unreliable: false - Value: false Enabled: true Global Options: Background Color: 48; 48; 48 @@ -751,20 +760,14 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -0.4448740482330322 - Y: -0.15840429067611694 - Z: -0.26984840631484985 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 38.08797073364258 + Scale: 80.61504364013672 Target Frame: base_link - X: 2.342628240585327 - Y: -1.4866849184036255 + Value: TopDownOrtho (rviz) + X: 1.9416037797927856 + Y: -2.2285892963409424 Saved: ~ Window Geometry: Camera Back Image: @@ -773,10 +776,10 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 1154 + Height: 1144 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002b0000003e8fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000cb0000005c00fffffffb000000100044006900730070006c006100790073010000010c00000317000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d0061006700650000000311000000a50000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000001600fffffffb0000002400430061006d006500720061002000460072006f006e007400200049006d00610067006500000003bc000000670000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000000ffffffff0000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000038a000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002b0000003defc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000c90000005c00fffffffb000000100044006900730070006c006100790073010000010a0000030f000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d0061006700650000000311000000a50000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000001600fffffffb0000002400430061006d006500720061002000460072006f006e007400200049006d00610067006500000003bc000000670000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000000ffffffff0000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000038a000003de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -786,5 +789,5 @@ Window Geometry: Views: collapsed: false Width: 1600 - X: -6 - Y: -6 + X: 603 + Y: 111 From eba1c4553f020b164a6a6d1b39c8962718a7195e Mon Sep 17 00:00:00 2001 From: mithun <51120171+MithunKinarullathil@users.noreply.github.com> Date: Tue, 4 Apr 2023 12:27:01 +0100 Subject: [PATCH 2/3] Start rviz with default config. --- files/bin/rviz.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/files/bin/rviz.sh b/files/bin/rviz.sh index b2e61cb..490d219 100755 --- a/files/bin/rviz.sh +++ b/files/bin/rviz.sh @@ -2,4 +2,4 @@ # File: rviz.sh set -e -ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" "/usr/bin/rviz" +ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" "/usr/bin/rviz" "-d" "/headless/default.rviz" From b444013f224714fa5b295ad9cd5ede5498c2c5b6 Mon Sep 17 00:00:00 2001 From: mithun <51120171+MithunKinarullathil@users.noreply.github.com> Date: Tue, 4 Apr 2023 12:31:19 +0100 Subject: [PATCH 3/3] Enable views panel. --- files/home/default.rviz | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/files/home/default.rviz b/files/home/default.rviz index a5296d9..0370a8f 100644 --- a/files/home/default.rviz +++ b/files/home/default.rviz @@ -5,9 +5,8 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Cameras1/Camera Front Image1/Status1 Splitter Ratio: 0.46526655554771423 - Tree Height: 646 + Tree Height: 654 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -776,10 +775,10 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 1144 + Height: 1154 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002b0000003defc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000c90000005c00fffffffb000000100044006900730070006c006100790073010000010a0000030f000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d0061006700650000000311000000a50000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000001600fffffffb0000002400430061006d006500720061002000460072006f006e007400200049006d00610067006500000003bc000000670000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000000ffffffff0000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000038a000003de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002b0000003e8fc020000000dfb0000001200530065006c0065006300740069006f006e000000003b0000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000cb0000005c00fffffffb000000100044006900730070006c006100790073010000010c00000317000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d0061006700650000000311000000a50000001600fffffffb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d00610067006500000003bc000000670000001600fffffffb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000000ffffffff0000000000000000000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000275000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -789,5 +788,5 @@ Window Geometry: Views: collapsed: false Width: 1600 - X: 603 - Y: 111 + X: -4 + Y: -4