From 58c994df9e5e1ebd09397116e8a559a57c6b568b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 21 Nov 2020 04:24:36 +0900 Subject: [PATCH] update pr2 rviz config --- .../jsk_pr2_startup/config/jsk_startup.rviz | 524 ++++++++++-------- 1 file changed, 279 insertions(+), 245 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz b/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz index e2441a327b..ec5d660fe5 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz +++ b/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz @@ -5,8 +5,8 @@ Panels: Property Tree Widget: Expanded: - /Diagnostics1/Power1 - Splitter Ratio: 0.557554 - Tree Height: 723 + Splitter Ratio: 0.557554007 + Tree Height: 1855 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -15,7 +15,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 @@ -25,7 +25,9 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: BaseScan + SyncSource: KinectPointCloud +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +37,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 @@ -525,189 +527,6 @@ Visualization Manager: {} Update Interval: 0 Value: false - - Arrow Length: 0.3 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: false - Name: LocalizationParticle - Topic: /particlecloud - Unreliable: false - 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/LaserScan - Color: 255; 255; 0 - 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: BaseScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.07 - Style: Spheres - Topic: /base_scan_throttled - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 8.98706 - Min Value: 2.21355 - Value: true - Axis: X - Channel Name: z - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 1.08762 - Min Color: 0; 0; 0 - Min Intensity: 0.19098 - Name: TiltScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /tilt_scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.815162 - Min Value: 0.471843 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: TiltLaserPointCloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.03 - Style: Flat Squares - Topic: /tilt_scan_shadow_filtered - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - 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: RGB8 - 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: KinectPointCloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.008 - Style: Points - Topic: /kinect_head/depth_registered/quater/throttled/points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: jsk_rviz_plugin/OverlayImage - Enabled: true - Name: KinectRGB - Topic: /kinect_head/rgb/quater/image_rect_color - Value: true - alpha: 0.8 - height: 128 - keep aspect ratio: true - left: 10 - top: 180 - width: 320 - - Class: jsk_rviz_plugin/OverlayImage - Enabled: false - Name: LeftArm - Topic: /l_forearm_cam/image_rect_color - Value: false - alpha: 0.8 - height: 128 - keep aspect ratio: true - left: 10 - top: 430 - width: 320 - - Class: jsk_rviz_plugin/OverlayImage - Enabled: false - Name: RightArm - Topic: /r_forearm_cam/image_rect_color - Value: false - alpha: 0.8 - height: 128 - keep aspect ratio: true - left: 10 - top: 680 - width: 320 - - Class: jsk_rviz_plugin/OverlayImage - Enabled: false - Name: WideStereoLeft - Topic: /wide_stereo/left/image_rect_color - Value: false - alpha: 0.8 - height: 240 - keep aspect ratio: true - left: 10 - top: 930 - width: 320 - - Class: jsk_rviz_plugin/OverlayImage - Enabled: false - Name: NarrowStereoLeft - Topic: /narrow_stereo/left/image_rect_color - Value: false - alpha: 0.8 - height: 240 - keep aspect ratio: true - left: 10 - top: 1180 - width: 320 - Class: jsk_rviz_plugin/PeoplePositionMeasurementArray Enabled: false Name: PeoplePositionMeasurementArray @@ -715,7 +534,7 @@ Visualization Manager: Unreliable: false Value: false anonymous: false - size: 0.3 + size: 0.300000012 text: person found here person found here timeout: 100 - Alpha: 1 @@ -726,14 +545,14 @@ Visualization Manager: Gradient: 0.5 History Length: 1 Name: AmbientSound - Scale: 0.3 + Scale: 0.300000012 Topic: /HarkPower Unreliable: false Value: true - Width: 0.1 + Width: 0.100000001 - Class: rviz/Group Displays: - - Alpha: 0.7 + - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false @@ -741,8 +560,9 @@ Visualization Manager: Name: Map Topic: /map Unreliable: false + Use Timestamp: false Value: true - - Alpha: 0.3 + - Alpha: 0.300000012 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -750,8 +570,9 @@ Visualization Manager: Name: SafeCostMap Topic: /safe_teleop_base/local_costmap/costmap Unreliable: false + Use Timestamp: false Value: true - - Alpha: 0.35 + - Alpha: 0.349999994 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -759,8 +580,9 @@ Visualization Manager: Name: LocalCostMap Topic: /move_base_node/local_costmap/costmap Unreliable: false + Use Timestamp: false Value: true - - Alpha: 0.35 + - Alpha: 0.349999994 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -768,17 +590,18 @@ Visualization Manager: Name: GlobalCostMap Topic: /move_base_node/global_costmap/costmap Unreliable: false + Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 0; 0; 255 Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 Line Style: Lines - Line Width: 0.03 + Line Width: 0.0299999993 Name: GlobalPath Offset: X: 0 @@ -786,9 +609,9 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 Topic: /move_base_node/DWAPlannerROS/global_plan Unreliable: false Value: true @@ -797,11 +620,11 @@ Visualization Manager: Class: rviz/Path Color: 255; 0; 0 Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 Line Style: Lines - Line Width: 0.03 + Line Width: 0.0299999993 Name: LocalPath Offset: X: 0 @@ -809,9 +632,9 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 Topic: /move_base_node/DWAPlannerROS/local_plan Unreliable: false Value: true @@ -820,9 +643,27 @@ Visualization Manager: Marker Topic: /spots_marker_array Name: Spot Namespaces: - text: true + pin_body: true + pin_head: true + pin_label: true Queue Size: 100 Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: LocalizationParticle + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: false Enabled: true Name: Navigation - Class: rviz/Group @@ -835,8 +676,9 @@ Visualization Manager: auto color change: false background color: 0; 0; 0 backround alpha: 0 - foreground alpha: 0.7 - foreground alpha 2: 0.4 + clockwise rotate direction: false + foreground alpha: 0.699999988 + foreground alpha 2: 0.400000006 foreground color: 25; 255; 240 left: 0 max color: 255; 0; 0 @@ -854,8 +696,9 @@ Visualization Manager: auto color change: false background color: 0; 0; 0 backround alpha: 0 - foreground alpha: 0.7 - foreground alpha 2: 0.4 + clockwise rotate direction: false + foreground alpha: 0.699999988 + foreground alpha 2: 0.400000006 foreground color: 25; 255; 240 left: 128 max color: 255; 0; 0 @@ -873,8 +716,9 @@ Visualization Manager: auto color change: false background color: 0; 0; 0 backround alpha: 0 - foreground alpha: 0.7 - foreground alpha 2: 0.4 + clockwise rotate direction: false + foreground alpha: 0.699999988 + foreground alpha 2: 0.400000006 foreground color: 25; 255; 240 left: 256 max color: 255; 0; 0 @@ -892,8 +736,9 @@ Visualization Manager: auto color change: false background color: 0; 0; 0 backround alpha: 0 - foreground alpha: 0.7 - foreground alpha 2: 0.4 + clockwise rotate direction: false + foreground alpha: 0.699999988 + foreground alpha 2: 0.400000006 foreground color: 25; 255; 240 left: 384 max color: 255; 0; 0 @@ -914,9 +759,9 @@ Visualization Manager: Value: true axis: x diagnostics namespace: /Power System - font size: 0.05 + font size: 0.0500000007 frame_id: base_link - line width: 0.03 + line width: 0.0299999993 radius: 0.5 - Class: jsk_rviz_plugin/Diagnostics Enabled: true @@ -925,10 +770,10 @@ Visualization Manager: Value: true axis: x diagnostics namespace: /Motors - font size: 0.05 + font size: 0.0500000007 frame_id: base_link - line width: 0.03 - radius: 0.7 + line width: 0.0299999993 + radius: 0.699999988 - Class: jsk_rviz_plugin/Diagnostics Enabled: true Name: Computers @@ -936,15 +781,205 @@ Visualization Manager: Value: true axis: x diagnostics namespace: /Computers - font size: 0.05 + font size: 0.0500000007 frame_id: base_link - line width: 0.03 - radius: 0.9 + line width: 0.0299999993 + radius: 0.899999976 Enabled: true Name: Diagnostics + - Class: rviz/Group + Displays: + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: KinectRGB + Topic: /kinect_head/rgb/quater/image_rect_color + Value: true + alpha: 0.800000012 + height: 128 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 180 + transport hint: compressed + width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: LeftArm + Topic: /l_forearm_cam/image_rect_color + Value: true + alpha: 0.800000012 + height: 128 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 430 + transport hint: compressed + width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: RightArm + Topic: /r_forearm_cam/image_rect_color + Value: true + alpha: 0.800000012 + height: 128 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 680 + transport hint: compressed + width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: WideStereoLeft + Topic: /wide_stereo/left/image_rect_color + Value: true + alpha: 0.800000012 + height: 240 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 930 + transport hint: compressed + width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: NarrowStereoLeft + Topic: /narrow_stereo/left/image_rect_color + Value: true + alpha: 0.800000012 + height: 240 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 1180 + transport hint: compressed + width: 320 + - 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; 255; 0 + 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: BaseScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0700000003 + Style: Spheres + Topic: /base_scan_throttled + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.98705959 + Min Value: 2.21355009 + Value: true + Axis: X + Channel Name: z + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 1.08762002 + Min Color: 0; 0; 0 + Min Intensity: 0.190980002 + Name: TiltScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /tilt_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.815162003 + Min Value: 0.471843004 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: TiltLaserPointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0299999993 + Style: Flat Squares + Topic: /tilt_scan_shadow_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: RGB8 + 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: KinectPointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00800000038 + Style: Points + Topic: /kinect_head/depth_registered/quater/throttled/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Vision Enabled: true Global Options: Background Color: 48; 48; 48 + Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -968,34 +1003,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 11.8262 + Distance: 10.3789015 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.914137 - Y: -2.41699 - Z: 0.82037 + X: 1.27238953 + Y: -0.646221399 + Z: 1.45365202 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.529961 + Near Clip Distance: 0.00999999978 + Pitch: 0.449796855 Target Frame: base_link Value: Orbit (rviz) - Yaw: 0.68204 + Yaw: 0.113857321 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1004 + Height: 2136 Hide Left Dock: false - Hide Right Dock: false - KinectCamera: - collapsed: false - NarrowCamera: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a00000361fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000361000000d000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004b0069006e00650063007400430061006d00650072006102000000830000013e0000026c000001bafb00000018004e006100720072006f007700430061006d00650072006100000002cb000000be0000001600000016000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000361000000aa00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000026a00fffffffb0000000800540069006d00650100000000000004500000000000000000000004fb0000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a000007cefc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000007ce000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004b0069006e00650063007400430061006d00650072006102000000830000013e0000026c000001bafb00000018004e006100720072006f007700430061006d00650072006100000002cb000000be0000000000000000000000010000010f000007cefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000007ce000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000ebf0000003efc0100000002fb0000000800540069006d0065010000000000000ebf0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000d4f000007ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -1003,7 +1037,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false - Width: 1920 - X: 53 - Y: 14 + collapsed: true + Width: 3775 + X: 65 + Y: 24