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Bugfix/launch with default config #38

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merged 3 commits into from
Apr 6, 2023
Merged

Bugfix/launch with default config #38

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8c811e4
Remove IMU visualizer as it is not available anymore.
MithunKinarullathil Apr 4, 2023
eba1c45
Start rviz with default config.
MithunKinarullathil Apr 4, 2023
b444013
Enable views panel.
MithunKinarullathil Apr 4, 2023
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2 changes: 1 addition & 1 deletion files/bin/rviz.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
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72 changes: 37 additions & 35 deletions files/home/default.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /Cameras1/Camera Front Image1/Status1
Splitter Ratio: 0.46526655554771423
Tree Height: 654
- Class: rviz/Selection
Expand All @@ -24,7 +23,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Scan Front
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
Expand All @@ -51,11 +50,10 @@ Visualization Manager:
Reference Frame: <Fixed 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
Expand All @@ -64,7 +62,7 @@ Visualization Manager:
Tree:
{}
Update Interval: 0
Value: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Expand Down Expand Up @@ -102,7 +100,9 @@ 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
Expand Down Expand Up @@ -130,7 +130,9 @@ 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
Expand Down Expand Up @@ -158,7 +160,9 @@ 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
Expand Down Expand Up @@ -186,7 +190,9 @@ 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
Expand Down Expand Up @@ -242,7 +248,9 @@ 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
Expand Down Expand Up @@ -270,7 +278,9 @@ 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
Expand All @@ -292,7 +302,7 @@ Visualization Manager:
Marker Topic: /obstacle_protection_footprint
Name: protection_area
Namespaces:
footprint: true
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Expand Down Expand Up @@ -333,7 +343,6 @@ 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
Expand Down Expand Up @@ -364,7 +373,6 @@ 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
Expand All @@ -381,7 +389,6 @@ 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)
Expand All @@ -407,7 +414,9 @@ 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
Expand Down Expand Up @@ -435,7 +444,9 @@ 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
Expand Down Expand Up @@ -463,7 +474,9 @@ 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
Expand Down Expand Up @@ -491,7 +504,9 @@ 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
Expand Down Expand Up @@ -519,7 +534,9 @@ 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
Expand Down Expand Up @@ -547,7 +564,9 @@ 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
Expand Down Expand Up @@ -575,7 +594,9 @@ 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
Expand Down Expand Up @@ -609,7 +630,6 @@ Visualization Manager:
Keep: 1
Name: Slam Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
Expand Down Expand Up @@ -646,7 +666,6 @@ 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
Expand All @@ -670,7 +689,6 @@ 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
Expand Down Expand Up @@ -707,16 +725,6 @@ 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
Expand Down Expand Up @@ -751,20 +759,14 @@ 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:
Expand All @@ -776,7 +778,7 @@ Window Geometry:
Height: 1154
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000002b0000003e8fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000cb0000005c00fffffffb000000100044006900730070006c006100790073010000010c00000317000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d0061006700650000000311000000a50000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000001600fffffffb0000002400430061006d006500720061002000460072006f006e007400200049006d00610067006500000003bc000000670000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000000ffffffff0000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000038a000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000002b0000003e8fc020000000dfb0000001200530065006c0065006300740069006f006e000000003b0000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000cb0000005c00fffffffb000000100044006900730070006c006100790073010000010c00000317000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d0061006700650000000311000000a50000001600fffffffb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d00610067006500000003bc000000670000001600fffffffb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000000ffffffff0000000000000000000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000275000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -786,5 +788,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1600
X: -6
Y: -6
X: -4
Y: -4