diff --git a/glados_viz/rviz/robot.rviz b/glados_viz/rviz/robot.rviz index d44fc80..5edd093 100644 --- a/glados_viz/rviz/robot.rviz +++ b/glados_viz/rviz/robot.rviz @@ -8,6 +8,8 @@ Panels: - /Status1 - /RobotModel1/Links1 - /TF1/Frames1 + - /DepthCloud1 + - /DepthCloud1/Auto Size1 Splitter Ratio: 0.6125907897949219 Tree Height: 719 - Class: rviz/Selection @@ -27,7 +29,7 @@ Panels: - Class: rviz/Time Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: DepthCloud Preferences: PromptSaveOnExit: true Toolbars: @@ -63,6 +65,10 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + eye_link: + Alpha: 1 + Show Axes: false + Show Trail: false head_link: Alpha: 1 Show Axes: false @@ -117,48 +123,36 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + view_link: + Alpha: 1 + Show Axes: false + Show Trail: false world: Alpha: 1 Show Axes: false Show Trail: false - zed2_baro_link: + zed2i_base_link: Alpha: 1 Show Axes: false Show Trail: false - zed2_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2_camera_center: + zed2i_camera_center: Alpha: 1 Show Axes: false Show Trail: false Value: true - zed2_left_camera_frame: + zed2i_left_camera_frame: Alpha: 1 Show Axes: false Show Trail: false - zed2_left_camera_optical_frame: + zed2i_left_camera_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - zed2_mag_link: + zed2i_right_camera_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 - zed2_temp_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2_temp_right_link: + zed2i_right_camera_optical_frame: Alpha: 1 Show Axes: false Show Trail: false @@ -185,6 +179,56 @@ Visualization Manager: {} Update Interval: 0 Value: false + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: /zed_node/left/image_rect_color + Color Transformer: RGB8 + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /zed_node/depth/depth_registered + Depth Map Transport Hint: raw + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_plugin_zed_od/ZedOdDisplay + Enabled: true + Joint Radius: 0.10000000149011612 + Label Scale: 5 + Link Size: 0.05000000074505806 + Name: ZedOdDisplay + Queue Size: 10 + Show Bounding Boxes: true + Show Labels: true + Show Skeletons: true + Topic: /zed_node/obj_det/objects + Transparency: 0.25 + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 255; 192; 192 @@ -213,7 +257,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 2.5236268043518066 + Distance: 4.542481422424316 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -221,17 +265,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.6907101273536682 - Y: 0.02027750015258789 - Z: -0.5839651823043823 + X: 2.5566468238830566 + Y: -0.2044447362422943 + Z: -1.9683701992034912 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.04993196949362755 + Pitch: 0.6649321913719177 Target Frame: - Yaw: 0.5201765298843384 + Yaw: 2.7701847553253174 Saved: ~ Window Geometry: Displays: