From ae835846e42526d9b0e82bc0ae0b0eace0baf13b Mon Sep 17 00:00:00 2001 From: TheNoobInventor Date: Sat, 30 Sep 2023 06:56:34 +0100 Subject: [PATCH] Update frame information in description.rviz --- lidarbot_description/rviz/description.rviz | 76 ++++++++++-------- .../.mapper_params_online_async.yaml.swp | Bin 0 -> 12288 bytes 2 files changed, 44 insertions(+), 32 deletions(-) create mode 100644 lidarbot_slam/config/.mapper_params_online_async.yaml.swp diff --git a/lidarbot_description/rviz/description.rviz b/lidarbot_description/rviz/description.rviz index 963d71b..f4a9734 100644 --- a/lidarbot_description/rviz/description.rviz +++ b/lidarbot_description/rviz/description.rviz @@ -5,12 +5,9 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - /TF1/Frames1 Splitter Ratio: 0.5 - Tree Height: 617 + Tree Height: 814 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -63,21 +60,25 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false base_link: Alpha: 1 Show Axes: false Show Trail: false + Value: true camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - caster_wheel: + camera_link_optical: Alpha: 1 Show Axes: false Show Trail: false - Value: true - chassis_link: + caster_wheel: Alpha: 1 Show Axes: false Show Trail: false @@ -87,19 +88,24 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - lidar_link: + left_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_wheel: + lidar_link: Alpha: 1 Show Axes: false Show Trail: false + Value: true right_wheel: Alpha: 1 Show Axes: false Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 @@ -110,40 +116,43 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false + base_footprint: + Value: true base_link: Value: false camera_link: - Value: false - caster_wheel: Value: false - chassis_link: + camera_link_optical: + Value: true + caster_wheel: Value: false imu_link: Value: false - lidar_link: - Value: false left_wheel: Value: false + lidar_link: + Value: false right_wheel: Value: false Marker Scale: 1 Name: TF Show Arrows: false - Show Axes: false + Show Axes: false Show Names: false Tree: - base_link: - chassis_link: + base_footprint: + base_link: camera_link: - {} + camera_link_optical: + {} caster_wheel: {} imu_link: {} - lidar_link: - {} left_wheel: {} + lidar_link: + {} right_wheel: {} Update Interval: 0 @@ -151,7 +160,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: base_link + Fixed Frame: base_footprint Frame Rate: 30 Name: root Tools: @@ -163,6 +172,9 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile @@ -191,39 +203,39 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 4.434264183044434 + Distance: 1.8121755123138428 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.31193429231643677 - Y: 0.11948385089635849 - Z: -0.4807402193546295 + X: -0.06942704319953918 + Y: 0.09426036477088928 + Z: -0.20152248442173004 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.490397572517395 + Pitch: 0.705397367477417 Target Frame: Value: Orbit (rviz) - Yaw: 1.0503965616226196 + Yaw: 0.9653966426849365 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 846 + Height: 1043 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000003b9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000050f000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - 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