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rviz.rviz
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Panels:
- Class: rviz/Displays
Help Height: 191
Name: Displays
Property Tree Widget:
Expanded:
- /links1
- /Odometry1
- /Point Cloud1
- /Point Cloud1/Velodyne1
- /Feature Cloud1
- /Mapping1
- /Mapping1/Map (cloud)1
Splitter Ratio: 0.5600000023841858
Tree Height: 1070
- Class: rviz/Selection
Name: Selection
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Tool Properties
Expanded: ~
Name: Tool Properties
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Class: rviz/Group
Displays:
- Class: rviz/TF
Enabled: false
Frame Timeout: 999
Frames:
All Enabled: false
Marker Scale: 3
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz/Axes
Enabled: true
Length: 2
Name: map
Radius: 0.5
Reference Frame: map
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: base_link
Radius: 0.30000001192092896
Reference Frame: base_link
Value: true
Enabled: true
Name: links
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.10000000149011612
Class: rviz/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: false
Enabled: true
Keep: 300
Name: Odom IMU
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 0.5
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /odometry/imu
Unreliable: false
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/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: false
Enabled: true
Keep: 300
Name: Odom GPS
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.30000001192092896
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /odometry/gps
Unreliable: false
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/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: false
Enabled: false
Keep: 300
Name: Odom lidar
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 0.25
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /lio_sam/mapping/odometry
Unreliable: false
Value: false
Enabled: false
Name: Odometry
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: false
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: 128
Min Color: 0; 0; 0
Min Intensity: 0
Name: Velodyne
Position Transformer: XYZ
Queue Size: 10
Selectable: false
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/deskew/cloud_deskewed
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: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Reg Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/mapping/cloud_registered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: false
Name: Point Cloud
- Class: rviz/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/PointCloud2
Color: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Edge Feature
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/feature/cloud_corner
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; 85; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Plannar Feature
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/feature/cloud_surface
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Feature Cloud
- Class: rviz/Group
Displays:
- Alpha: 0.30000001192092896
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 4.432547569274902
Min Value: -1.2175177335739136
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 300
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 128
Min Color: 0; 0; 0
Min Intensity: 0
Name: Map (cloud)
Position Transformer: XYZ
Queue Size: 10
Selectable: false
Size (Pixels): 1
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/mapping/cloud_registered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 36.61034393310547
Min Value: -2.3476977348327637
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Map (local)
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /lio_sam/mapping/map_local
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Map (global)
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/mapping/map_global
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 85; 255; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.10000000149011612
Name: Path (global)
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: /lio_sam/mapping/path
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 85; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.10000000149011612
Name: Path (local)
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: /lio_sam/imu/path
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 20.802837371826172
Min Value: -0.03934507071971893
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Loop closure
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.30000001192092896
Style: Flat Squares
Topic: /lio_sam/mapping/icp_loop_closure_corrected_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /lio_sam/mapping/loop_closure_constraints
Name: Loop constraint
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Name: Mapping
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/FocusCamera
- Class: rviz/Measure
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 76.7048568725586
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 3.669595956802368
Y: -3.1645395755767822
Z: -9.904999732971191
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 3.129842758178711
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1412
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001a30000052afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000002e000001340000000000000000fb000000100044006900730070006c006100790073010000003d0000052a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000286000000a70000005c00ffffff000000010000011100000435fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002e00000435000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000040fc0100000002fb0000000800540069006d00650000000000000004b00000000000000000fb0000000800540069006d00650100000000000004500000000000000000000008570000052a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2560
X: 1920
Y: 192