| Panels: |
| - Class: rviz_common/Displays |
| Help Height: 0 |
| Name: Displays |
| Property Tree Widget: |
| Expanded: |
| - /PointCloud21/Topic1 |
| - /LaserScan1/Topic1 |
| - /Image1/Topic1 |
| Splitter Ratio: 0.5 |
| Tree Height: 500 |
| - Class: rviz_common/Selection |
| Name: Selection |
| - Class: rviz_common/Tool Properties |
| Expanded: |
| - /2D Goal Pose1 |
| - /Publish Point1 |
| Name: Tool Properties |
| Splitter Ratio: 0.5886790156364441 |
| - Class: rviz_common/Views |
| Expanded: |
| - /Current View1 |
| Name: Views |
| Splitter Ratio: 0.5 |
| - Class: rviz_common/Time |
| Experimental: false |
| Name: Time |
| SyncMode: 0 |
| SyncSource: LaserScan |
| - Class: nav2_rviz_plugins/Navigation 2 |
| Name: Navigation 2 |
| Visualization Manager: |
| Class: "" |
| Displays: |
| - Alpha: 0.5 |
| Cell Size: 1 |
| Class: rviz_default_plugins/Grid |
| Color: 160; 160; 164 |
| Enabled: true |
| Line Style: |
| Line Width: 0.029999999329447746 |
| 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: 1 |
| Class: rviz_default_plugins/RobotModel |
| Collision Enabled: false |
| Description File: "" |
| Description Source: Topic |
| Description Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /robot_description |
| Enabled: true |
| Links: |
| All Links Enabled: true |
| Expand Joint Details: false |
| Expand Link Details: false |
| Expand Tree: false |
| FL_calf: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FL_calflower: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FL_calflower1: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FL_foot: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FL_hip: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FL_thigh: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FR_calf: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FR_calflower: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FR_calflower1: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FR_foot: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FR_hip: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| FR_thigh: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| Head_lower: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| Head_upper: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| Link Tree Style: Links in Alphabetic Order |
| RL_calf: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RL_calflower: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RL_calflower1: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RL_foot: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RL_hip: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RL_thigh: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RR_calf: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RR_calflower: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RR_calflower1: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RR_foot: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RR_hip: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| RR_thigh: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| base_footprint: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| base_link: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| front_camera: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Value: true |
| imu: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| map: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| odom: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| radar: |
| Alpha: 1 |
| Show Axes: false |
| Show Trail: false |
| Mass Properties: |
| Inertia: false |
| Mass: false |
| Name: RobotModel |
| TF Prefix: "" |
| Update Interval: 0 |
| Value: true |
| Visual Enabled: 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_default_plugins/PointCloud2 |
| Color: 255; 255; 255 |
| Color Transformer: Intensity |
| Decay Time: 1 |
| Enabled: false |
| Invert Rainbow: false |
| Max Color: 255; 255; 255 |
| Max Intensity: 186 |
| Min Color: 0; 0; 0 |
| Min Intensity: 6 |
| Name: PointCloud2 |
| Position Transformer: XYZ |
| Selectable: true |
| Size (Pixels): 3 |
| Size (m): 0.05000000074505806 |
| Style: Boxes |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Best Effort |
| Value: /point_cloud2 |
| 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_default_plugins/LaserScan |
| Color: 224; 27; 36 |
| Color Transformer: FlatColor |
| Decay Time: 0.0 |
| Enabled: true |
| Invert Rainbow: false |
| Max Color: 255; 255; 255 |
| Max Intensity: 4096 |
| Min Color: 0; 0; 0 |
| Min Intensity: 0 |
| Name: LaserScan |
| Position Transformer: XYZ |
| Selectable: true |
| Size (Pixels): 3 |
| Size (m): 0.05000000074505806 |
| Style: Spheres |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Best Effort |
| Value: /scan |
| Use Fixed Frame: true |
| Use rainbow: true |
| Value: true |
| - Class: rviz_default_plugins/Image |
| Enabled: true |
| Max Value: 1 |
| Median window: 5 |
| Min Value: 0 |
| Name: Image |
| Normalize Range: true |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| History Policy: Keep Last |
| Reliability Policy: Best Effort |
| Value: /camera/image_raw |
| Value: true |
| - Alpha: 0.699999988079071 |
| Class: rviz_default_plugins/Map |
| Color Scheme: map |
| Draw Behind: false |
| Enabled: true |
| Name: Map |
| Topic: |
| Depth: 5 |
| Durability Policy: Transient Local |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /map |
| Update Topic: |
| Depth: 5 |
| Durability Policy: Transient Local |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /map_updates |
| Use Timestamp: false |
| Value: true |
| - Angle Tolerance: 0.10000000149011612 |
| Class: rviz_default_plugins/Odometry |
| Covariance: |
| Orientation: |
| Alpha: 0.5 |
| Color: 255; 255; 127 |
| Color Style: Unique |
| Frame: Local |
| Offset: 1 |
| Scale: 1 |
| Value: true |
| Position: |
| Alpha: 0.30000001192092896 |
| Color: 204; 51; 204 |
| Scale: 1 |
| Value: true |
| Value: true |
| Enabled: false |
| Keep: 100 |
| Name: Odometry |
| Position Tolerance: 0.10000000149011612 |
| Shape: |
| Alpha: 1 |
| Axes Length: 1 |
| Axes Radius: 0.10000000149011612 |
| Color: 255; 25; 0 |
| Head Length: 0.30000001192092896 |
| Head Radius: 0.10000000149011612 |
| Shaft Length: 1 |
| Shaft Radius: 0.05000000074505806 |
| Value: Arrow |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /odom |
| Value: false |
| - Alpha: 1 |
| Buffer Length: 1 |
| Class: rviz_default_plugins/Path |
| Color: 0; 170; 255 |
| Enabled: true |
| Head Diameter: 0.30000001192092896 |
| Head Length: 0.20000000298023224 |
| Length: 0.30000001192092896 |
| Line Style: Lines |
| Line Width: 0.029999999329447746 |
| Name: Global Path |
| Offset: |
| X: 0 |
| Y: 0 |
| Z: 0 |
| Pose Color: 255; 85; 255 |
| Pose Style: None |
| Radius: 0.029999999329447746 |
| Shaft Diameter: 0.10000000149011612 |
| Shaft Length: 0.10000000149011612 |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /plan |
| Value: true |
| - Alpha: 1 |
| Buffer Length: 1 |
| Class: rviz_default_plugins/Path |
| Color: 25; 255; 0 |
| Enabled: true |
| Head Diameter: 0.30000001192092896 |
| Head Length: 0.20000000298023224 |
| Length: 0.30000001192092896 |
| Line Style: Lines |
| Line Width: 0.029999999329447746 |
| Name: Local Path |
| Offset: |
| X: 0 |
| Y: 0 |
| Z: 0 |
| Pose Color: 255; 85; 255 |
| Pose Style: None |
| Radius: 0.029999999329447746 |
| Shaft Diameter: 0.10000000149011612 |
| Shaft Length: 0.10000000149011612 |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /local_plan |
| Value: true |
| - Alpha: 0.5 |
| Class: rviz_default_plugins/Map |
| Color Scheme: costmap |
| Draw Behind: false |
| Enabled: true |
| Name: Local Costmap |
| Topic: |
| Depth: 1 |
| Durability Policy: Transient Local |
| Filter size: 10 |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /local_costmap/costmap |
| Update Topic: |
| Depth: 5 |
| Durability Policy: Transient Local |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /local_costmap/costmap_updates |
| Use Timestamp: false |
| Value: true |
| Enabled: true |
| Global Options: |
| Background Color: 48; 48; 48 |
| Fixed Frame: map |
| Frame Rate: 30 |
| Name: root |
| Tools: |
| - Class: rviz_default_plugins/Interact |
| Hide Inactive Objects: true |
| - Class: rviz_default_plugins/MoveCamera |
| - Class: rviz_default_plugins/Select |
| - Class: rviz_default_plugins/FocusCamera |
| - Class: rviz_default_plugins/Measure |
| Line color: 128; 128; 0 |
| - Class: rviz_default_plugins/SetInitialPose |
| Covariance x: 1.0 |
| Covariance y: 1.0 |
| Covariance yaw: 0.25 |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /initialpose |
| - Class: rviz_default_plugins/SetGoal |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /goal_pose |
| - Class: rviz_default_plugins/PublishPoint |
| Single click: true |
| Topic: |
| Depth: 5 |
| Durability Policy: Volatile |
| History Policy: Keep Last |
| Reliability Policy: Reliable |
| Value: /clicked_point |
| - Class: nav2_rviz_plugins/GoalTool |
| Transformation: |
| Current: |
| Class: rviz_default_plugins/TF |
| Value: true |
| Views: |
| Current: |
| Class: rviz_default_plugins/XYOrbit |
| Distance: 8.104316711425781 |
| Enable Stereo Rendering: |
| Stereo Eye Separation: 0.05999999865889549 |
| Stereo Focal Distance: 1 |
| Swap Stereo Eyes: false |
| Value: false |
| Focal Point: |
| X: -0.7618959546089172 |
| Y: -1.3177106380462646 |
| Z: 0 |
| Focal Shape Fixed Size: true |
| Focal Shape Size: 0.05000000074505806 |
| Invert Z Axis: false |
| Name: Current View |
| Near Clip Distance: 0.009999999776482582 |
| Pitch: 0.46979716420173645 |
| Target Frame: <Fixed Frame> |
| Value: XYOrbit (rviz_default_plugins) |
| Yaw: 4.827390670776367 |
| Saved: ~ |
| Window Geometry: |
| Displays: |
| collapsed: false |
| Height: 1376 |
| Hide Left Dock: false |
| Hide Right Dock: false |
| Image: |
| collapsed: false |
| Navigation 2: |
| collapsed: false |
| QMainWindow State: 000000ff00000000fd0000000400000000000003a9000004befc020000000bfb0000001200530065006c0065006300740069006f006e00000000470000008c0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000232000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000276000002860000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000185000001f80000019100fffffffb00000018004e0061007600690067006100740069006f006e00200032000000026d0000028f0000014400ffffff0000000100000102000004befc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e000004be000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000092a00000040fc0100000002fb0000000800540069006d006501000000000000092a0000028e00fffffffb0000000800540069006d0065010000000000000450000000000000000000000473000004be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 |
| Selection: |
| collapsed: false |
| Time: |
| collapsed: false |
| Tool Properties: |
| collapsed: false |
| Views: |
| collapsed: false |
| Width: 2346 |
| X: 377 |
| Y: 27 |
|
|
