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debug.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /RobotModel1
- /RangeSensor1
- /XtionCloud1
- /XtionDepth1
- /XtionImage1
- /HandForceTorque1
- /HandCamera1
- /HeadCameraCenter1
- /HeadCameraLeft1
- /HeadCameraRight1
- /GridCells1
- /Path1
- /TF1
- /TF1/Frames1
- /MarkerArray1
- /TF2
- /TF2/Frames1
- /plane cloud1
- /remaining cloud1
Splitter Ratio: 0.642651021
Tree Height: 769
- 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: RangeSensor
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: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic: /dynamic_obstacle_map_ref
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: Map
Topic: /static_obstacle_map_ref
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz_plugin_tutorials/Imu
Enabled: false
Name: Imu
- 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; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: RangeSensor
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /hsrb/base_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.90051198
Min Value: 0.275878996
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
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: XtionCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /hsrb/head_rgbd_sensor/depth_registered/rectified_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /hsrb/head_rgbd_sensor/depth_registered/image_rect_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: XtionDepth
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /hsrb/head_rgbd_sensor/rgb/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Name: XtionImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Arrow Width: 0.5
Class: rviz/WrenchStamped
Enabled: true
Force Arrow Scale: 2
Force Color: 204; 51; 51
History Length: 1
Name: HandForceTorque
Topic: /hsrb/wrrist_wrench
Torque Arrow Scale: 2
Torque Color: 204; 204; 51
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /hsrb/hand_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: HandCamera
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /hsrb/head_center_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: HeadCameraCenter
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /hsrb/head_l_stereo_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: HeadCameraLeft
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /hsrb/head_r_stereo_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: HeadCameraRight
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Class: rviz/GridCells
Color: 25; 255; 0
Enabled: true
Name: GridCells
Topic: /base_path_planner/inflated_static_obstacle_map
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: 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: /base_local_path_ref
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
arm_flex_link:
Value: false
arm_lift_link:
Value: false
arm_roll_link:
Value: false
base_footprint:
Value: false
base_footprint_wheel:
Value: false
base_imu_frame:
Value: false
base_l_drive_wheel_link:
Value: false
base_l_passive_wheel_x_frame:
Value: false
base_l_passive_wheel_y_frame:
Value: false
base_l_passive_wheel_z_link:
Value: false
base_link:
Value: true
base_r_drive_wheel_link:
Value: false
base_r_passive_wheel_x_frame:
Value: false
base_r_passive_wheel_y_frame:
Value: false
base_r_passive_wheel_z_link:
Value: false
base_range_sensor_link:
Value: false
base_roll_link:
Value: false
hand_camera_frame:
Value: false
hand_camera_gazebo_frame:
Value: false
hand_l_distal_link:
Value: false
hand_l_finger_tip_frame:
Value: false
hand_l_finger_vacuum_frame:
Value: false
hand_l_mimic_distal_link:
Value: false
hand_l_proximal_link:
Value: false
hand_l_spring_proximal_link:
Value: false
hand_motor_dummy_link:
Value: false
hand_palm_link:
Value: false
hand_r_distal_link:
Value: false
hand_r_finger_tip_frame:
Value: false
hand_r_mimic_distal_link:
Value: false
hand_r_proximal_link:
Value: false
hand_r_spring_proximal_link:
Value: false
head_center_camera_frame:
Value: false
head_center_camera_gazebo_frame:
Value: false
head_l_stereo_camera_frame:
Value: false
head_l_stereo_camera_gazebo_frame:
Value: false
head_l_stereo_camera_link:
Value: false
head_pan_link:
Value: false
head_r_stereo_camera_frame:
Value: false
head_r_stereo_camera_gazebo_frame:
Value: false
head_r_stereo_camera_link:
Value: false
head_rgbd_sensor_depth_frame:
Value: true
head_rgbd_sensor_gazebo_frame:
Value: false
head_rgbd_sensor_link:
Value: false
head_rgbd_sensor_rgb_frame:
Value: false
head_tilt_link:
Value: false
map:
Value: false
odom:
Value: false
torso_lift_link:
Value: false
wrist_flex_link:
Value: false
wrist_ft_sensor_frame:
Value: false
wrist_roll_link:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_link:
arm_lift_link:
arm_flex_link:
arm_roll_link:
wrist_flex_link:
wrist_roll_link:
hand_palm_link:
hand_camera_frame:
hand_camera_gazebo_frame:
{}
hand_l_proximal_link:
hand_l_spring_proximal_link:
hand_l_mimic_distal_link:
hand_l_distal_link:
hand_l_finger_tip_frame:
{}
hand_l_finger_vacuum_frame:
{}
hand_motor_dummy_link:
{}
hand_r_proximal_link:
hand_r_spring_proximal_link:
hand_r_mimic_distal_link:
hand_r_distal_link:
hand_r_finger_tip_frame:
{}
wrist_ft_sensor_frame:
{}
base_imu_frame:
{}
base_range_sensor_link:
{}
base_roll_link:
base_l_drive_wheel_link:
{}
base_l_passive_wheel_x_frame:
base_l_passive_wheel_y_frame:
base_l_passive_wheel_z_link:
{}
base_r_drive_wheel_link:
{}
base_r_passive_wheel_x_frame:
base_r_passive_wheel_y_frame:
base_r_passive_wheel_z_link:
{}
torso_lift_link:
head_pan_link:
head_tilt_link:
head_center_camera_frame:
head_center_camera_gazebo_frame:
{}
head_l_stereo_camera_link:
head_l_stereo_camera_frame:
{}
head_l_stereo_camera_gazebo_frame:
{}
head_r_stereo_camera_link:
head_r_stereo_camera_frame:
{}
head_r_stereo_camera_gazebo_frame:
{}
head_rgbd_sensor_link:
head_rgbd_sensor_depth_frame:
{}
head_rgbd_sensor_gazebo_frame:
{}
head_rgbd_sensor_rgb_frame:
{}
base_footprint_wheel:
{}
Update Interval: 0
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /collision_environment_marker_array
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
arm_flex_link:
Value: false
arm_lift_link:
Value: false
arm_roll_link:
Value: false
base_footprint:
Value: false
base_footprint_wheel:
Value: false
base_imu_frame:
Value: false
base_l_drive_wheel_link:
Value: false
base_l_passive_wheel_x_frame:
Value: false
base_l_passive_wheel_y_frame:
Value: false
base_l_passive_wheel_z_link:
Value: false
base_link:
Value: false
base_r_drive_wheel_link:
Value: false
base_r_passive_wheel_x_frame:
Value: false
base_r_passive_wheel_y_frame:
Value: false
base_r_passive_wheel_z_link:
Value: false
base_range_sensor_link:
Value: false
base_roll_link:
Value: false
hand_camera_frame:
Value: false
hand_camera_gazebo_frame:
Value: false
hand_l_distal_link:
Value: false
hand_l_finger_tip_frame:
Value: false
hand_l_finger_vacuum_frame:
Value: false
hand_l_mimic_distal_link:
Value: false
hand_l_proximal_link:
Value: false
hand_l_spring_proximal_link:
Value: false
hand_motor_dummy_link:
Value: false
hand_palm_link:
Value: false
hand_r_distal_link:
Value: false
hand_r_finger_tip_frame:
Value: false
hand_r_mimic_distal_link:
Value: false
hand_r_proximal_link:
Value: false
hand_r_spring_proximal_link:
Value: false
head_center_camera_frame:
Value: false
head_center_camera_gazebo_frame:
Value: false
head_l_stereo_camera_frame:
Value: false
head_l_stereo_camera_gazebo_frame:
Value: false
head_l_stereo_camera_link:
Value: false
head_pan_link:
Value: false
head_r_stereo_camera_frame:
Value: false
head_r_stereo_camera_gazebo_frame:
Value: false
head_r_stereo_camera_link:
Value: false
head_rgbd_sensor_depth_frame:
Value: false
head_rgbd_sensor_gazebo_frame:
Value: false
head_rgbd_sensor_link:
Value: false
head_rgbd_sensor_rgb_frame:
Value: false
head_tilt_link:
Value: false
map:
Value: false
odom:
Value: false
torso_lift_link:
Value: false
wrist_flex_link:
Value: false
wrist_ft_sensor_frame:
Value: false
wrist_roll_link:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_link:
arm_lift_link:
arm_flex_link:
arm_roll_link:
wrist_flex_link:
wrist_roll_link:
hand_palm_link:
hand_camera_frame:
hand_camera_gazebo_frame:
{}
hand_l_proximal_link:
hand_l_spring_proximal_link:
hand_l_mimic_distal_link:
hand_l_distal_link:
hand_l_finger_tip_frame:
{}
hand_l_finger_vacuum_frame:
{}
hand_motor_dummy_link:
{}
hand_r_proximal_link:
hand_r_spring_proximal_link:
hand_r_mimic_distal_link:
hand_r_distal_link:
hand_r_finger_tip_frame:
{}
wrist_ft_sensor_frame:
{}
base_imu_frame:
{}
base_range_sensor_link:
{}
base_roll_link:
base_l_drive_wheel_link:
{}
base_l_passive_wheel_x_frame:
base_l_passive_wheel_y_frame:
base_l_passive_wheel_z_link:
{}
base_r_drive_wheel_link:
{}
base_r_passive_wheel_x_frame:
base_r_passive_wheel_y_frame:
base_r_passive_wheel_z_link:
{}
torso_lift_link:
head_pan_link:
head_tilt_link:
head_center_camera_frame:
head_center_camera_gazebo_frame:
{}
head_l_stereo_camera_link:
head_l_stereo_camera_frame:
{}
head_l_stereo_camera_gazebo_frame:
{}
head_r_stereo_camera_link:
head_r_stereo_camera_frame:
{}
head_r_stereo_camera_gazebo_frame:
{}
head_rgbd_sensor_link:
head_rgbd_sensor_depth_frame:
{}
head_rgbd_sensor_gazebo_frame:
{}
head_rgbd_sensor_rgb_frame:
{}
base_footprint_wheel:
{}
Update Interval: 0
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: visualization_marker_array
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
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: Intensity
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: input cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /horizontal_plane_detector_server/downsampled_input_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /horizontal_plane_detector_server/current_plane_box
Name: Marker
Namespaces:
horizontal_planes_marker: true
Queue Size: 100
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: Intensity
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: plane cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /horizontal_plane_detector_server/current_plane_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: Intensity
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: remaining cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /horizontal_plane_detector_server/remaining_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
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: /laser_2d_correct_pose
- Class: rviz/SetGoal
Topic: /goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 5.84469318
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.479766011
Y: -0.0101736002
Z: 0.436215997
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.22479564
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.11497688
Saved: ~
Window Geometry:
Displays:
collapsed: false
HandCamera:
collapsed: false
HeadCameraCenter:
collapsed: false
HeadCameraLeft:
collapsed: false
HeadCameraRight:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
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Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 1985
XtionDepth:
collapsed: false
XtionImage:
collapsed: false
Y: 245