Update lidarbot_nav.rviz to include global and local paths

TheNoobInventor · Feb 20, 2024 · 21be582 · 21be582
1 parent 014adbf
commit 21be582
Showing 1 changed file with 80 additions and 23 deletions.
diff --git a/lidarbot_navigation/rviz/lidarbot_nav.rviz b/lidarbot_navigation/rviz/lidarbot_nav.rviz
@@ -6,9 +6,9 @@ Panels:
       Expanded:
         - /Map1/Topic1
         - /Odometry2/Shape1
-        - /Map2/Topic1
+        - /Path1/Status1
       Splitter Ratio: 0.5
-    Tree Height: 356
+    Tree Height: 377
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -183,7 +183,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 47
+      Max Intensity: 0
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: LaserScan
@@ -216,6 +216,7 @@ Visualization Manager:
         Value: /camera/image_raw
       Value: false
       Visibility:
+        "": true
         Grid: true
         LaserScan: true
         Map: true
@@ -245,6 +246,27 @@ Visualization Manager:
         Value: /map_updates
       Use Timestamp: false
       Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap_updates
+      Use Timestamp: false
+      Value: true
     - Angle Tolerance: 0.10000000149011612
       Class: rviz_default_plugins/Odometry
       Covariance:
@@ -263,7 +285,7 @@ Visualization Manager:
           Value: true
         Value: false
       Enabled: true
-      Keep: 5
+      Keep: 3
       Name: Odometry
       Position Tolerance: 0.10000000149011612
       Shape:
@@ -302,7 +324,7 @@ Visualization Manager:
           Value: true
         Value: false
       Enabled: true
-      Keep: 5
+      Keep: 3
       Name: Odometry
       Position Tolerance: 0.10000000149011612
       Shape:
@@ -323,26 +345,61 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /odometry/filtered
       Value: true
-    - Alpha: 0.699999988079071
-      Class: rviz_default_plugins/Map
-      Color Scheme: costmap
-      Draw Behind: false
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
       Enabled: true
-      Name: Map
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.029999999329447746
+      Name: Path
+      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:
         Depth: 5
-        Durability Policy: Transient Local
+        Durability Policy: Volatile
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /global_costmap/costmap
-      Update Topic:
+        Value: /received_global_plan
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 255; 85; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.05000000074505806
+      Name: Path
+      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:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /global_costmap/costmap_updates
-      Use Timestamp: false
+        Value: /local_plan
       Value: true
   Enabled: true
   Global Options:
@@ -400,23 +457,23 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 84.51799011230469
+      Scale: 111.98409271240234
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -0.7626913189888
-      Y: -2.2333052158355713
+      X: -0.36854273080825806
+      Y: -1.5199042558670044
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1043
+  Height: 1041
   Hide Left Dock: false
   Hide Right Dock: false
   Navigation 2:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e002000320100000232000001c40000013900ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000217000003bbfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000202000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000016d00fffffffb00000018004e0061007600690067006100740069006f006e002000320100000243000001b30000011200ffffff000000010000010f000003bbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003bb000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000008a000003bb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   SlamToolboxPlugin:
@@ -425,6 +482,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 1920
-  Y: 0
+  Width: 956
+  X: 2880
+  Y: 19