| Panels: | |
| - Class: rviz/Displays | |
| Help Height: 0 | |
| Name: Displays | |
| Property Tree Widget: | |
| Expanded: | |
| - /Global Options1 | |
| - /TF1/Frames1 | |
| - /btt1/Perception1/perception_markers1/Namespaces1 | |
| - /btt1/New_Perception1/rgb_labels1/Namespaces1 | |
| - /btt1/Navigation1/nav goals1/Namespaces1 | |
| - /btt1/direct_base_ctrl1/base_link_as_pose1 | |
| Splitter Ratio: 0.5240506529808044 | |
| Tree Height: 797 | |
| - Class: rviz/Selection | |
| Name: Selection | |
| - Class: rviz/Tool Properties | |
| Expanded: | |
| - /2D Pose Estimate1 | |
| - /2D Nav Goal1 | |
| - /Publish Point1 | |
| Name: Tool Properties | |
| Splitter Ratio: 0.5886790156364441 | |
| - Class: rviz/Views | |
| Expanded: | |
| - /Current View1 | |
| Name: Views | |
| Splitter Ratio: 0.5 | |
| - Class: rviz/Time | |
| Name: Time | |
| SyncMode: 0 | |
| SyncSource: raw_color_pcl | |
| - Class: rviz/Tool Properties | |
| Expanded: ~ | |
| Name: Tool Properties | |
| Splitter Ratio: 0.5 | |
| - Class: rviz/Selection | |
| Name: Selection | |
| Preferences: | |
| PromptSaveOnExit: true | |
| Toolbars: | |
| toolButtonStyle: 2 | |
| Visualization Manager: | |
| Class: "" | |
| Displays: | |
| - Alpha: 0.4000000059604645 | |
| Cell Size: 1 | |
| Class: rviz/Grid | |
| Color: 160; 160; 164 | |
| Enabled: true | |
| 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: true | |
| - Alpha: 0.5 | |
| Class: rviz/RobotModel | |
| Collision Enabled: false | |
| Enabled: true | |
| Links: | |
| All Links Enabled: true | |
| Expand Joint Details: false | |
| Expand Link Details: false | |
| Expand Tree: false | |
| Link Tree Style: Links in Alphabetic Order | |
| arm_cam3d_camera_color_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_color_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_depth_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_depth_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_left_ir_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_left_ir_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| arm_cam3d_camera_right_ir_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_cam3d_camera_right_ir_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| arm_link_0: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| arm_link_1: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| arm_link_2: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| arm_link_3: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| arm_link_4: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| arm_link_5: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| base_footprint: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| base_ground_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| base_laser_front_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| base_laser_rear_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| base_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| caster_link_bl: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| caster_link_br: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| caster_link_fl: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| caster_link_fr: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| fixed_camera_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| full_platform_arm_root_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| full_platform_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_bracket_left_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_bracket_right_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_finger_left_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_finger_mount_left_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_finger_mount_right_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_finger_right_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_motor_left_base_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_motor_left_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| gripper_motor_mount_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_motor_right_base_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| gripper_motor_right_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| gripper_static_grasp_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_color_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_color_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_depth_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_depth_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_left_ir_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_left_ir_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_link: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| tower_cam3d_camera_right_ir_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| tower_cam3d_camera_right_ir_optical_frame: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| wheel_link_bl: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| wheel_link_br: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| wheel_link_fl: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| wheel_link_fr: | |
| Alpha: 1 | |
| Show Axes: false | |
| Show Trail: false | |
| Value: true | |
| Name: RobotModel | |
| Robot Description: robot_description | |
| TF Prefix: "" | |
| Update Interval: 0 | |
| Value: true | |
| Visual Enabled: true | |
| - Class: rviz/TF | |
| Enabled: false | |
| Frame Timeout: 15 | |
| Frames: | |
| All Enabled: false | |
| Marker Alpha: 1 | |
| Marker Scale: 1 | |
| Name: TF | |
| Show Arrows: true | |
| Show Axes: true | |
| Show Names: true | |
| Tree: | |
| {} | |
| Update Interval: 0 | |
| Value: false | |
| - Class: rviz/Group | |
| Displays: | |
| - 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: RGB8 | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: raw_color_pcl | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: false | |
| Size (Pixels): 1 | |
| Size (m): 0.019999999552965164 | |
| Style: Points | |
| Topic: /tower_cam3d/depth_registered/points | |
| 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: tabletop_clusters | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /mcr_perception/scene_segmentation/tabletop_clusters | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: false | |
| - Class: rviz/Marker | |
| Enabled: false | |
| Marker Topic: /mcr_perception/scene_segmentation/bounding_boxes | |
| Name: perception_markers | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| 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: RGB8 | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: passthrough_x | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Flat Squares | |
| Topic: /mcr_perception/passthrough_x/output | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: false | |
| - Class: rviz/MarkerArray | |
| Enabled: false | |
| Marker Topic: /mcr_perception/scene_segmentation/labels | |
| Name: pcl_labels | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| Value: false | |
| - Alpha: 0.30000001192092896 | |
| Autocompute Intensity Bounds: true | |
| Autocompute Value Bounds: | |
| Max Value: 10 | |
| Min Value: -10 | |
| Value: true | |
| Axis: Z | |
| Channel Name: intensity | |
| Class: rviz/PointCloud2 | |
| Color: 170; 255; 0 | |
| Color Transformer: FlatColor | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: tabletop_accum | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Spheres | |
| Topic: /mcr_perception/scene_segmentation_node/tabletop_clusters | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: false | |
| - Alpha: 1 | |
| Class: rviz/Polygon | |
| Color: 25; 255; 0 | |
| Enabled: false | |
| Name: Polygon | |
| Queue Size: 10 | |
| Topic: /mcr_perception/convex_hull/output_polygon | |
| Unreliable: false | |
| Value: false | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /arm_cam3d/rgb/image_raw | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: Image | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| 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/LaserScan | |
| Color: 255; 255; 255 | |
| Color Transformer: "" | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: barrier_scan | |
| Position Transformer: "" | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Flat Squares | |
| Topic: /barrier_tape/scan | |
| 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: cloud_accumulator | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Boxes | |
| Topic: /mcr_perception/scene_segmentation/output | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: false | |
| - Alpha: 1 | |
| Arrow Length: 0.10000000149011612 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: DetectedCavities | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /mcr_perception/cavity_finder/output/pose | |
| Unreliable: false | |
| Value: false | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /mcr_perception/cavity_finder/output/rgb_debug_image | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: cavity_debug | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: detectedobjects | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /mcr_perception/multimodal_object_identification/output/pose | |
| 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: Intensity | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: mm_pointcloud | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /mcr_perception/multimodal_object_identification/output/pointclouds_combined | |
| 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: mm_platform | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Flat Squares | |
| Topic: /mcr_perception/multimodal_object_identification/output/platform_pointcloud | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: false | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /mcr_perception/multimodal_object_identification/output/rgb_debug_image | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: mm_rgb_debug | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| Value: true | |
| Enabled: true | |
| Name: Perception | |
| - Class: rviz/Group | |
| Displays: | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /tower_cam3d/rgb/image_raw | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: raw_image | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| Value: true | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: yolo_debug | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| 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: RGB8 | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: raw_pointcloud2 | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /tower_cam3d/depth_registered/points | |
| 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: RGB8 | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: rgb_tabletop_clusters | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_rgb | |
| 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: RGB8 | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: rgb_debug_pointcloud | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /mir_perception/multimodal_object_recognition/output/debug_cloud_plane | |
| 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: FlatColor | |
| Decay Time: 0 | |
| Enabled: false | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: pcl_tabletop_clusters | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_pcl | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: false | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: rgb_PoseArray | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array | |
| Unreliable: false | |
| Value: false | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 255; 255 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: pcl_PoseArray | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /mir_perception/multimodal_object_recognition/output/pcl_object_pose_array | |
| Unreliable: false | |
| Value: false | |
| - Class: rviz/MarkerArray | |
| Enabled: false | |
| Marker Topic: /mir_perception/multimodal_object_recognition/pcl_labels | |
| Name: pcl_labels | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| Value: false | |
| - Class: rviz/MarkerArray | |
| Enabled: false | |
| Marker Topic: /mir_perception/multimodal_object_recognition/rgb_labels | |
| Name: rgb_labels | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| Value: false | |
| - Class: rviz/Marker | |
| Enabled: false | |
| Marker Topic: /mir_perception/multimodal_object_recognition/bounding_boxes | |
| Name: bounding_boxes_pcl | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| Value: false | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 0; 170; 0 | |
| Enabled: false | |
| Head Length: 0.05000000074505806 | |
| Head Radius: 0.07999999821186066 | |
| Name: pose_selector | |
| Queue Size: 10 | |
| Shaft Length: 0.4000000059604645 | |
| Shaft Radius: 0.008999999612569809 | |
| Shape: Arrow | |
| Topic: /mcr_perception/object_selector/output/object_pose | |
| Unreliable: false | |
| Value: false | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: rgb_object_poseArray | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array | |
| Unreliable: false | |
| Value: false | |
| Enabled: false | |
| Name: New_Perception | |
| - Class: rviz/Group | |
| Displays: | |
| - Alpha: 1 | |
| Class: rviz/Polygon | |
| Color: 255; 85; 0 | |
| Enabled: false | |
| Name: robot_footprint | |
| Queue Size: 10 | |
| Topic: /move_base/local_costmap/footprint | |
| Unreliable: false | |
| Value: false | |
| - Alpha: 0.8999999761581421 | |
| Autocompute Intensity Bounds: true | |
| Autocompute Value Bounds: | |
| Max Value: 10 | |
| Min Value: -10 | |
| Value: true | |
| Axis: Z | |
| Channel Name: intensity | |
| Class: rviz/LaserScan | |
| Color: 0; 85; 255 | |
| Color Transformer: FlatColor | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: scan_front | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 5 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /scan_front | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: true | |
| - Alpha: 0.8999999761581421 | |
| Autocompute Intensity Bounds: true | |
| Autocompute Value Bounds: | |
| Max Value: 10 | |
| Min Value: -10 | |
| Value: true | |
| Axis: Z | |
| Channel Name: intensity | |
| Class: rviz/LaserScan | |
| Color: 255; 0; 0 | |
| Color Transformer: FlatColor | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: scan_rear | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 5 | |
| Size (m): 0.009999999776482582 | |
| Style: Points | |
| Topic: /scan_rear | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: true | |
| - Alpha: 0.5 | |
| Class: rviz/Map | |
| Color Scheme: map | |
| Draw Behind: true | |
| Enabled: true | |
| Name: map | |
| Topic: /map | |
| Unreliable: false | |
| Use Timestamp: false | |
| Value: true | |
| - Alpha: 0.699999988079071 | |
| Class: rviz/Map | |
| Color Scheme: costmap | |
| Draw Behind: false | |
| Enabled: false | |
| Name: local_costmap | |
| Topic: /move_base/local_costmap/costmap | |
| Unreliable: false | |
| Use Timestamp: false | |
| Value: false | |
| - Alpha: 0.20000000298023224 | |
| Class: rviz/Map | |
| Color Scheme: costmap | |
| Draw Behind: false | |
| Enabled: false | |
| Name: global_costmap | |
| Topic: /move_base/global_costmap/costmap | |
| Unreliable: false | |
| Use Timestamp: false | |
| Value: false | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: true | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: global_plan_wo | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /move_base/GlobalPlannerWithOrientations/plan | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Buffer Length: 1 | |
| Class: rviz/Path | |
| Color: 170; 0; 127 | |
| Enabled: true | |
| Head Diameter: 0.30000001192092896 | |
| Head Length: 0.20000000298023224 | |
| Length: 0.30000001192092896 | |
| Line Style: Lines | |
| Line Width: 0.029999999329447746 | |
| Name: global_plan_as_path | |
| Offset: | |
| X: 0 | |
| Y: 0 | |
| Z: 0 | |
| Pose Color: 255; 85; 255 | |
| Pose Style: None | |
| Queue Size: 10 | |
| Radius: 0.029999999329447746 | |
| Shaft Diameter: 0.10000000149011612 | |
| Shaft Length: 0.10000000149011612 | |
| Topic: /move_base/GlobalPlannerWithOrientations/path_plan | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Buffer Length: 1 | |
| Class: rviz/Path | |
| Color: 25; 255; 0 | |
| Enabled: true | |
| Head Diameter: 0.30000001192092896 | |
| Head Length: 0.20000000298023224 | |
| Length: 0.30000001192092896 | |
| Line Style: Lines | |
| Line Width: 0.029999999329447746 | |
| Name: dwa_global_plan | |
| Offset: | |
| X: 0 | |
| Y: 0 | |
| Z: 0 | |
| Pose Color: 255; 85; 255 | |
| Pose Style: None | |
| Queue Size: 10 | |
| Radius: 0.029999999329447746 | |
| Shaft Diameter: 0.10000000149011612 | |
| Shaft Length: 0.10000000149011612 | |
| Topic: /move_base/DWAPlannerROS/global_plan | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Buffer Length: 1 | |
| Class: rviz/Path | |
| Color: 85; 85; 127 | |
| Enabled: true | |
| Head Diameter: 0.30000001192092896 | |
| Head Length: 0.20000000298023224 | |
| Length: 0.30000001192092896 | |
| Line Style: Lines | |
| Line Width: 0.029999999329447746 | |
| Name: local_plan | |
| Offset: | |
| X: 0 | |
| Y: 0 | |
| Z: 0 | |
| Pose Color: 255; 85; 255 | |
| Pose Style: None | |
| Queue Size: 10 | |
| Radius: 0.029999999329447746 | |
| Shaft Diameter: 0.10000000149011612 | |
| Shaft Length: 0.10000000149011612 | |
| Topic: /move_base/DWAPlannerROS/local_plan | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: true | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: amcl particles | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /particlecloud | |
| Unreliable: false | |
| Value: true | |
| - Class: rviz/MarkerArray | |
| Enabled: true | |
| Marker Topic: /visualization_marker_array | |
| Name: nav goals | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| Value: true | |
| - Class: rviz/Group | |
| Displays: | |
| - Class: rviz/Marker | |
| Enabled: true | |
| Marker Topic: /move_base/force_field_recovery/force_field_vector | |
| Name: ff_vector | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| 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; 0 | |
| Color Transformer: FlatColor | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: obstacle_cloud | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.05000000074505806 | |
| Style: Spheres | |
| Topic: /move_base/force_field_recovery/obstacle_cloud | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: true | |
| - Class: rviz/Marker | |
| Enabled: true | |
| Marker Topic: /move_base/force_field_recovery/obstacle_neighborhood | |
| Name: obst_neighbourhood | |
| Namespaces: | |
| {} | |
| Queue Size: 100 | |
| Value: true | |
| Enabled: false | |
| Name: force_field | |
| Enabled: false | |
| Name: Navigation | |
| - Class: rviz/Group | |
| Displays: | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 85; 170; 0 | |
| Enabled: true | |
| Head Length: 0.10000000149011612 | |
| Head Radius: 0.029999999329447746 | |
| Name: random object pose | |
| Queue Size: 10 | |
| Shaft Length: 0.10000000149011612 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow | |
| Topic: /mcr_perception/random_object_selector/output/object_pose | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 0.8999999761581421 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 170; 85; 255 | |
| Enabled: true | |
| Head Length: 0.10000000149011612 | |
| Head Radius: 0.10000000149011612 | |
| Name: modified pose | |
| Queue Size: 10 | |
| Shaft Length: 0.5 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Arrow | |
| Topic: /move_base_relative/random_obj_selector_transformer_republisher/output/transformed_pose | |
| Unreliable: false | |
| Value: true | |
| Enabled: false | |
| Name: move_relative | |
| - Class: rviz/Group | |
| Displays: | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 0; 85; 0 | |
| Enabled: true | |
| Head Length: 0.30000001192092896 | |
| Head Radius: 0.10000000149011612 | |
| Name: base_link_as_pose | |
| Queue Size: 10 | |
| Shaft Length: 1 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Arrow | |
| Topic: /mcr_navigation/direct_base_controller/pose_converter/converted_pose | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 85; 85; 255 | |
| Enabled: true | |
| Head Length: 0.30000001192092896 | |
| Head Radius: 0.10000000149011612 | |
| Name: goal_pose | |
| Queue Size: 10 | |
| Shaft Length: 1 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Arrow | |
| Topic: /pose_transformer/transformed_pose | |
| Unreliable: false | |
| Value: true | |
| Enabled: false | |
| Name: direct_base_ctrl | |
| - Class: rviz/Group | |
| Displays: | |
| - Alpha: 0.8999999761581421 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 0; 255; 0 | |
| Enabled: false | |
| Head Length: 0.10000000149011612 | |
| Head Radius: 0.029999999329447746 | |
| Name: winner_pose | |
| Queue Size: 10 | |
| Shaft Length: 0.10000000149011612 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow | |
| Topic: /pregrasp_planner_pipeline/grasp_planner/pose_out | |
| Unreliable: false | |
| Value: false | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: generated_poses | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /pregrasp_planner_pipeline/pose_generator/poses_list | |
| Unreliable: false | |
| Value: false | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 255; 25; 0 | |
| Enabled: true | |
| Head Length: 0.30000001192092896 | |
| Head Radius: 0.10000000149011612 | |
| Name: pose_in_pregrasp_planner | |
| Queue Size: 10 | |
| Shaft Length: 1 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Arrow | |
| Topic: /mir_pregrasp_planner_pipeline/pose_in | |
| Unreliable: false | |
| Value: true | |
| Enabled: false | |
| Name: pregrasp_planner | |
| - Class: rviz/Group | |
| Displays: | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /mcr_perception/barrier_tape_detection/debug_image | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: debug_image | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| 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: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: PointCloud2 | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Flat Squares | |
| Topic: /mcr_perception/barrier_tape_detection/output/yellow_barrier_tape_pointcloud | |
| 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/LaserScan | |
| Color: 255; 255; 255 | |
| Color Transformer: "" | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: LaserScan | |
| Position Transformer: "" | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Flat Squares | |
| Topic: /barrier_tape/scan | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: true | |
| Enabled: false | |
| Name: barrier_tape | |
| - 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: Intensity | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: line_tracing_3d | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: true | |
| Size (Pixels): 3 | |
| Size (m): 0.009999999776482582 | |
| Style: Flat Squares | |
| Topic: /mcr_perception/line_contour_detector/output/pointclouds_filtered | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: true | |
| - Class: rviz/Image | |
| Enabled: true | |
| Image Topic: /mcr_perception/line_contour_detector/output/debug_image | |
| Max Value: 1 | |
| Median window: 5 | |
| Min Value: 0 | |
| Name: line_tracing_rgb | |
| Normalize Range: true | |
| Queue Size: 2 | |
| Transport Hint: raw | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Buffer Length: 1 | |
| Class: rviz/Path | |
| Color: 25; 255; 0 | |
| Enabled: true | |
| Head Diameter: 0.30000001192092896 | |
| Head Length: 0.20000000298023224 | |
| Length: 0.30000001192092896 | |
| Line Style: Lines | |
| Line Width: 0.029999999329447746 | |
| Name: line_path | |
| Offset: | |
| X: 0 | |
| Y: 0 | |
| Z: 0 | |
| Pose Color: 255; 85; 255 | |
| Pose Style: None | |
| Queue Size: 10 | |
| Radius: 0.029999999329447746 | |
| Shaft Diameter: 0.10000000149011612 | |
| Shaft Length: 0.10000000149011612 | |
| Topic: /mir_manipulation/mir_trajectory_executor/line_tracing_path | |
| Unreliable: false | |
| Value: true | |
| Enabled: false | |
| Name: line_tracing | |
| - Class: rviz/Group | |
| Displays: | |
| - Alpha: 1 | |
| Axes Length: 0.10000000149011612 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/Pose | |
| Color: 255; 25; 0 | |
| Enabled: true | |
| Head Length: 0.30000001192092896 | |
| Head Radius: 0.10000000149011612 | |
| Name: grasp_pose | |
| Queue Size: 10 | |
| Shaft Length: 1 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Axes | |
| Topic: /mir_pregrasp_planner_pipeline/pose_out | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Axes Length: 0.20000000298023224 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/Pose | |
| Color: 255; 25; 0 | |
| Enabled: true | |
| Head Length: 0.30000001192092896 | |
| Head Radius: 0.10000000149011612 | |
| Name: object_pose | |
| Queue Size: 10 | |
| Shaft Length: 1 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Axes | |
| Topic: /mcr_perception/object_selector/output/object_pose | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 0.10000000149011612 | |
| Axes Length: 0.10000000149011612 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/Pose | |
| Color: 255; 0; 255 | |
| Enabled: true | |
| Head Length: 0.10000000149011612 | |
| Head Radius: 0.009999999776482582 | |
| Name: base_goal_pose | |
| Queue Size: 10 | |
| Shaft Length: 0.10000000149011612 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Axes | |
| Topic: /wbc_base_motion_calculator_pipeline/pose_transformer/transformed_pose | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 0; 0; 0 | |
| Enabled: true | |
| Head Length: 0.30000001192092896 | |
| Head Radius: 0.10000000149011612 | |
| Name: base_start_pose | |
| Queue Size: 10 | |
| Shaft Length: 0.10000000149011612 | |
| Shaft Radius: 0.05000000074505806 | |
| Shape: Arrow | |
| Topic: /base_motion_calculator/pose_out_1 | |
| Unreliable: false | |
| Value: true | |
| - Alpha: 1 | |
| Arrow Length: 0.30000001192092896 | |
| Axes Length: 0.30000001192092896 | |
| Axes Radius: 0.009999999776482582 | |
| Class: rviz/PoseArray | |
| Color: 255; 25; 0 | |
| Enabled: false | |
| Head Length: 0.07000000029802322 | |
| Head Radius: 0.029999999329447746 | |
| Name: PoseArray | |
| Queue Size: 10 | |
| Shaft Length: 0.23000000417232513 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow (Flat) | |
| Topic: /pregrasp_planner_pipeline/pose_generator/poses_list | |
| Unreliable: false | |
| Value: false | |
| Enabled: false | |
| Name: WBC | |
| Enabled: false | |
| Name: btt | |
| - Alpha: 1 | |
| Axes Length: 1 | |
| Axes Radius: 0.10000000149011612 | |
| Class: rviz/Pose | |
| Color: 0; 255; 0 | |
| Enabled: true | |
| Head Length: 0.10000000149011612 | |
| Head Radius: 0.05000000074505806 | |
| Name: camera_calibration_obj_pose | |
| Queue Size: 10 | |
| Shaft Length: 0.30000001192092896 | |
| Shaft Radius: 0.009999999776482582 | |
| Shape: Arrow | |
| Topic: /mcr_perception/object_selector/output/object_pose | |
| Unreliable: false | |
| 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: RGB8 | |
| Decay Time: 0 | |
| Enabled: true | |
| Invert Rainbow: false | |
| Max Color: 255; 255; 255 | |
| Min Color: 0; 0; 0 | |
| Name: raw_color_pcl | |
| Position Transformer: XYZ | |
| Queue Size: 10 | |
| Selectable: false | |
| Size (Pixels): 1 | |
| Size (m): 0.019999999552965164 | |
| Style: Points | |
| Topic: /tower_cam3d/depth_registered/points | |
| Unreliable: false | |
| Use Fixed Frame: true | |
| Use rainbow: true | |
| Value: true | |
| Enabled: true | |
| Global Options: | |
| Background Color: 48; 48; 48 | |
| Default Light: true | |
| Fixed Frame: base_link | |
| 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 | |
| Theta std deviation: 0.2617993950843811 | |
| Topic: /initialpose | |
| X std deviation: 0.5 | |
| Y std deviation: 0.5 | |
| - 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: 2.597813129425049 | |
| Enable Stereo Rendering: | |
| Stereo Eye Separation: 0.05999999865889549 | |
| Stereo Focal Distance: 1 | |
| Swap Stereo Eyes: false | |
| Value: false | |
| Field of View: 0.7853981852531433 | |
| Focal Point: | |
| X: 0.2907962501049042 | |
| Y: -0.21175114810466766 | |
| Z: -0.0001220703125 | |
| Focal Shape Fixed Size: true | |
| Focal Shape Size: 0.05000000074505806 | |
| Invert Z Axis: false | |
| Name: Current View | |
| Near Clip Distance: 0.009999999776482582 | |
| Pitch: 0.07979757338762283 | |
| Target Frame: <Fixed Frame> | |
| Yaw: 1.5549991130828857 | |
| Saved: ~ | |
| Window Geometry: | |
| Displays: | |
| collapsed: false | |
| Height: 1043 | |
| Hide Left Dock: false | |
| Hide Right Dock: false | |
| Image: | |
| collapsed: false | |
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| Selection: | |
| collapsed: false | |
| Time: | |
| collapsed: false | |
| Tool Properties: | |
| collapsed: false | |
| Views: | |
| collapsed: false | |
| Width: 1920 | |
| X: 1920 | |
| Y: 0 | |
| cavity_debug: | |
| collapsed: false | |
| debug_image: | |
| collapsed: false | |
| line_tracing_rgb: | |
| collapsed: false | |
| mm_rgb_debug: | |
| collapsed: false | |
| raw_image: | |
| collapsed: false | |
| yolo_debug: | |
| collapsed: false | |