-
Notifications
You must be signed in to change notification settings - Fork 0
/
zed2.rviz
701 lines (701 loc) · 22.1 KB
/
zed2.rviz
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Description Topic1
- /Video1
- /Video1/RGB Image1/Topic1
- /Video1/Stereo1/Topic1
- /Depth1
- /Depth1/Depth Map1/Topic1
- /Position1/TF1
- /Position1/TF1/Frames1
- /Position1/Pose1/Topic1
- /Position1/Pose Path1/Topic1
- /Position1/Odom Path1/Topic1
- /Mapping1/Map Point Cloud1
- /Mapping1/Map Point Cloud1/Topic1
- /Objects1/ZedOdDisplay1
- /Sensors1/IMU Temperature1/Topic1
- /Sensors1/Left Temperature1/Topic1
- /Sensors1/Right Temperature1/Topic1
- /Front Lidar (Raw)1
- /Rear Lidar (Raw)1
Splitter Ratio: 0.4965358078479767
Tree Height: 70
- 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
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: false
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: false
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /zed2/robot_description
Enabled: true
Links:
All Links Enabled:
{}
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_camera_center:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_left_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_left_camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_right_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_right_camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Camera
Enabled: true
Image Rendering: background
Name: RGB Image
Overlay Alpha: 0.5
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/rgb/image_rect_color
Value: true
Visibility:
Depth:
Confidence: true
Depth Map: true
Loc. Point Cloud: true
Value: false
Front Lidar (Raw): true
Grid: false
Mapping:
Map Point Cloud: true
Value: true
Objects:
Value: true
ZedOdDisplay: true
Position:
Odom Path: true
Pose: true
Pose Path: true
TF: true
Value: false
Rear Lidar (Raw): true
RobotModel: false
Sensors:
Atm. Pressure: true
IMU Temperature: true
Left Temperature: true
Right Temperature: true
Value: false
Value: true
Video:
Stereo: true
Value: false
Zoom Factor: 1
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
Name: Stereo
Normalize Range: true
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/stereo/image_rect_color
Value: false
Enabled: true
Name: Video
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 10
Median window: 5
Min Value: 0
Name: Depth Map
Normalize Range: false
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/depth/depth_registered
Value: true
- Class: rviz_default_plugins/Image
Enabled: false
Max Value: 100
Median window: 5
Min Value: 0
Name: Confidence
Normalize Range: false
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/confidence/confidence_map
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_default_plugins/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: Loc. Point Cloud
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/point_cloud/cloud_registered
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Depth
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 10
Frames:
All Enabled: false
base_link:
Value: true
zed2_camera_center:
Value: false
zed2_imu_link:
Value: true
zed2_left_camera_frame:
Value: false
zed2_left_camera_optical_frame:
Value: false
zed2_right_camera_frame:
Value: false
zed2_right_camera_optical_frame:
Value: false
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_link:
zed2_camera_center:
zed2_left_camera_frame:
zed2_imu_link:
{}
zed2_left_camera_optical_frame:
{}
zed2_right_camera_frame:
zed2_right_camera_optical_frame:
{}
Update Interval: 0.20000000298023224
Value: true
- Alpha: 0.75
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz_default_plugins/Pose
Color: 25; 255; 25
Enabled: true
Head Length: 0.05000000074505806
Head Radius: 0.029999999329447746
Name: Pose
Shaft Length: 0.10000000149011612
Shaft Radius: 0.009999999776482582
Shape: Arrow
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/pose
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 25
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.009999999776482582
Line Style: Lines
Line Width: 0.029999999329447746
Name: Pose Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Axes
Radius: 0.004999999888241291
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/path_map
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 25; 25
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.009999999776482582
Line Style: Lines
Line Width: 0.029999999329447746
Name: Odom Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Axes
Radius: 0.004999999888241291
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/path_odom
Value: true
Enabled: true
Name: Position
- Class: rviz_common/Group
Displays:
- 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: 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: Map Point Cloud
Position Transformer: XYZ
Selectable: false
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Squares
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/mapping/fused_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Mapping
- Class: rviz_common/Group
Displays:
- Class: rviz_plugin_zed_od/ZedOdDisplay
Enabled: true
Joint Radius: 0.07500000298023224
Label Scale: 3.5
Link Size: 0.05000000074505806
Name: ZedOdDisplay
Show Bounding Boxes: true
Show Labels: true
Show Skeletons: true
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/obj_det/objects
Transparency: 0.25
Value: true
Enabled: true
Name: Objects
- Class: rviz_common/Group
Displays:
- Alpha: 0.30000001192092896
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: fluid_pressure
Class: rviz_default_plugins/FluidPressure
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1050
Min Color: 0; 0; 0
Min Intensity: 980
Name: Atm. Pressure
Position Transformer: XYZ
Selectable: false
Size (Pixels): 3
Size (m): 0.25
Style: Tiles
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/atm_press
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 0.30000001192092896
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: temperature
Class: rviz_default_plugins/Temperature
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: true
Max Color: 255; 255; 255
Max Intensity: 100
Min Color: 0; 0; 0
Min Intensity: 0
Name: IMU Temperature
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.25
Style: Tiles
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/temperature/imu
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.30000001192092896
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: temperature
Class: rviz_default_plugins/Temperature
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: true
Max Color: 255; 255; 255
Max Intensity: 100
Min Color: 0; 0; 0
Min Intensity: 0
Name: Left Temperature
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.25
Style: Tiles
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/temperature/left
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 0.30000001192092896
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: temperature
Class: rviz_default_plugins/Temperature
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: true
Max Color: 255; 255; 255
Max Intensity: 100
Min Color: 0; 0; 0
Min Intensity: 0
Name: Right Temperature
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.25
Style: Tiles
Topic:
Depth: 1
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /zed2/zed_node/temperature/right
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: false
Name: Sensors
- 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: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 255
Min Color: 0; 0; 0
Min Intensity: 0
Name: Front Lidar (Raw)
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.029999999329447746
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /lidar_front/points_raw
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/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 255
Min Color: 0; 0; 0
Min Intensity: 0
Name: Rear Lidar (Raw)
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.029999999329447746
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /lidar_rear/points_raw
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: zed2_imu_link
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
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 6.378235816955566
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 3.287238597869873
Y: -0.7572905421257019
Z: 1.7912659645080566
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.2203981727361679
Target Frame: base_link
Value: Orbit (rviz_default_plugins)
Yaw: 2.9803998470306396
Saved: ~
Window Geometry:
Confidence:
collapsed: false
Depth Map:
collapsed: false
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 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
RGB Image:
collapsed: false
Selection:
collapsed: false
Stereo:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1855
X: 65
Y: 27