Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Image1 - /PointCloud21 - /Camera1 Splitter Ratio: 0.5 Tree Height: 104 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: RPLidarLaserScan 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: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: 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 OrbbecAstra_link: Alpha: 1 Show Axes: false Show Trail: false Value: true back_sonar: Alpha: 1 Show Axes: false Show Trail: false Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false center_hubcap: Alpha: 1 Show Axes: false Show Trail: false Value: true center_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true chassis: Alpha: 1 Show Axes: false Show Trail: false Value: true front_sonar: Alpha: 1 Show Axes: false Show Trail: false Value: true laser: Alpha: 1 Show Axes: false Show Trail: false Value: true left_hub: Alpha: 1 Show Axes: false Show Trail: false Value: true left_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true pilier_link: Alpha: 1 Show Axes: false Show Trail: false Value: true plaque_link: Alpha: 1 Show Axes: false Show Trail: false Value: true right_hub: Alpha: 1 Show Axes: false Show Trail: false Value: true right_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true swivel: Alpha: 1 Show Axes: false Show Trail: false Value: true top_plate: 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: 0.493153721 Min Value: 0.427805096 Value: true Axis: Z Channel Name: intensity Class: rviz/LaserScan Color: 255; 255; 255 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: RPLidarLaserScan Position Transformer: XYZ Queue Size: 1000 Selectable: true Size (Pixels): 5 Size (m): 0.0299999993 Style: Squares Topic: /base_scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: SLAM Map Topic: /map Unreliable: false Use Timestamp: false Value: true - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Global Costmap Topic: /move_base/global_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Local Costmap Topic: /move_base/local_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 255; 25; 0 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: Goal Pose Shaft Length: 1 Shaft Radius: 0.0500000007 Shape: Arrow Topic: /move_base/current_goal Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: Planned Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /move_base/NavfnROS/plan Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 85; 0; 255 Enabled: true Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: Local Planned Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /move_base/TrajectoryPlannerROS/local_plan Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 127 Enabled: true Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: Global Planned Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /move_base/TrajectoryPlannerROS/global_plan Unreliable: false Value: true - Alpha: 0.699999988 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: Frontier Cells Topic: /frontier_cells Unreliable: false Use Timestamp: false Value: true - Class: rviz/Image Enabled: true Image Topic: camera/depth/image_raw Max Value: 1 Median window: 5 Min Value: 0 Name: Image Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true - 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: "" 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: "" Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Flat Squares Topic: camera/depth/point Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/Camera Enabled: true Image Rendering: background and overlay Image Topic: camera/color/image_raw Name: Camera Overlay Alpha: 0.5 Queue Size: 2 Transport Hint: raw Unreliable: false Value: true Visibility: Frontier Cells: true Global Costmap: true Global Planned Path: true Goal Pose: true Grid: true Image: true Local Costmap: true Local Planned Path: true Planned Path: true PointCloud2: true RPLidarLaserScan: true RobotModel: true SLAM Map: true Value: true Zoom Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true 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: Class: rviz/Orbit Distance: 17.9755001 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 2.40261006 Y: -0.568551004 Z: -3.02844 Focal Shape Fixed Size: true Focal Shape Size: 0.0500000007 Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 Pitch: 0.594797194 Target Frame: Value: Orbit (rviz) Yaw: 5.01859093 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false Height: 744 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000178000000160000000000000000fb0000000a0049006d0061006700650100000125000000a60000001600fffffffb0000000a0049006d00610067006501000001ad000000d90000000000000000fb0000000c00430061006d00650072006101000001d1000000b50000001600ffffff000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1301 X: 65 Y: 24