Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - /Axes1 - /odometry1 - /odometry1/odomPath1 - /mapping1 - /mapping1/mappingPath1 - /mapping1/surround1 - /mapping1/currPoints1 - /Debug1/PointCloud21 - /Debug1/PointCloud22 - /Debug1/PointCloud23 - /Odometry1 - /Odometry1/Odometry1 - /Odometry1/Odometry1/Shape1 - /Odometry1/Odometry2 - /Odometry1/Odometry2/Shape1 - /Odometry1/Odometry3 - /Odometry1/Odometry3/Shape1 - /Features1 - /Features1/PointCloud21 - /Axes2 Splitter Ratio: 0.5 Tree Height: 755 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: currPoints Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: false Line Style: Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 160 Reference Frame: Value: false - Class: rviz/Axes Enabled: true Length: 0.5 Name: Axes Radius: 0.100000001 Reference Frame: Value: true - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 170; 0 Enabled: false Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: gtPathlc Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /path_gt Unreliable: false Value: false - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 170; 0 Enabled: true Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: gtPathLidar Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /path_gt_lidar Unreliable: false Value: true Enabled: false Name: GT - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 85; 0 Enabled: false Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.100000001 Name: odomPath Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /laser_odom_path Unreliable: false Value: false Enabled: true Name: odometry - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 85; 0 Enabled: false Head Diameter: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: mappingPath Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.0299999993 Shaft Diameter: 0.100000001 Shaft Length: 0.100000001 Topic: /laser_odom_path Unreliable: false 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: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15 Min Color: 0; 0; 0 Min Intensity: 0 Name: surround Position Transformer: XYZ Queue Size: 1 Selectable: false Size (Pixels): 3 Size (m): 0.0500000007 Style: Points Topic: /velodyne_cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.100000001 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 3.00941062 Min Value: -3.43477297 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 1e+09 Enabled: true Invert Rainbow: true Max Color: 255; 255; 255 Max Intensity: 90.0066299 Min Color: 0; 0; 0 Min Intensity: 0 Name: currPoints Position Transformer: XYZ Queue Size: 100000 Selectable: true Size (Pixels): 1 Size (m): 0.00999999978 Style: Points Topic: /velodyne_cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true Enabled: true Name: mapping - 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: 255; 255; 255 Color Transformer: FlatColor Decay Time: 100000 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15.0027466 Min Color: 0; 0; 0 Min Intensity: -0.00289796153 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.0500000007 Style: Spheres Topic: /laser_cloud_sharp Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 2.30599999 Min Value: -0.620000005 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 98; 255; 245 Color Transformer: FlatColor Decay Time: 1000000 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 353 Min Color: 0; 0; 0 Min Intensity: 2 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Flat Squares Topic: /laser_cloud_flat 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: 100000 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 324 Min Color: 0; 0; 0 Min Intensity: 91 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Flat Squares Topic: /laser_cloud_less_sharp Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true Enabled: false Name: Debug - Class: rviz/Group Displays: - Angle Tolerance: 0.00999999978 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: 0.300000012 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 1000 Name: Odometry Position Tolerance: 0.00999999978 Shape: Alpha: 1 Axes Length: 0.5 Axes Radius: 0.00999999978 Color: 0; 255; 0 Head Length: 0 Head Radius: 0 Shaft Length: 0.0500000007 Shaft Radius: 0.0500000007 Value: Arrow Topic: /re_local_pose Unreliable: false Value: true - Angle Tolerance: 0.00999999978 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: 0.300000012 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 10000 Name: Odometry Position Tolerance: 0.00100000005 Shape: Alpha: 1 Axes Length: 0.200000003 Axes Radius: 0.0500000007 Color: 255; 85; 0 Head Length: 0 Head Radius: 0 Shaft Length: 0.0500000007 Shaft Radius: 0.0500000007 Value: Axes Topic: /aft_mapped_to_init Unreliable: false Value: true - Angle Tolerance: 0.100000001 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: 0.300000012 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 1 Name: Odometry Position Tolerance: 0.00100000005 Shape: Alpha: 1 Axes Length: 0.200000003 Axes Radius: 0.0500000007 Color: 255; 25; 0 Head Length: 0.300000012 Head Radius: 0.100000001 Shaft Length: 1 Shaft Radius: 0.0500000007 Value: Axes Topic: /re_local_pose Unreliable: false Value: true Enabled: true Name: Odometry - 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: 255; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 38.0005989 Min Color: 0; 0; 0 Min Intensity: 1.00010002 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.200000003 Style: Points Topic: /laser_cloud_surround_corner Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: Features - Class: rviz/Axes Enabled: true Length: 1 Name: Axes Radius: 0.100000001 Reference Frame: aft_mapped Value: true Enabled: true Global Options: Background Color: 0; 0; 0 Default Light: true Fixed Frame: /camera_init Frame Rate: 30 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose Topic: /initialpose - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 49.6306572 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 27.9710369 Y: -0.381309479 Z: -4.58850336 Focal Shape Fixed Size: true Focal Shape Size: 0.0500000007 Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 Pitch: 0.680201769 Target Frame: Value: Orbit (rviz) Yaw: 2.38357234 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1056 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd00000004000000000000016a00000382fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000382000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000618000001a80000000000000000000000010000015200000382fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000382000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000052fc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000038200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1855 X: 65 Y: 24