Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /TF1/Frames1 - /btt1 - /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: 0.524050653 Tree Height: 500 - 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: raw_image Visualization Manager: Class: "" Displays: - Alpha: 0.400000006 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true 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: 10 Reference 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 adapter_plate_arm_root_link: Alpha: 1 Show Axes: false Show Trail: false adapter_plate_link: Alpha: 1 Show Axes: false Show Trail: false Value: true arm_cam3d_depth_frame: Alpha: 1 Show Axes: false Show Trail: false arm_cam3d_depth_optical_frame: Alpha: 1 Show Axes: false Show Trail: false arm_cam3d_laser_frame: Alpha: 1 Show Axes: false Show Trail: false arm_cam3d_laser_optical_frame: Alpha: 1 Show Axes: false Show Trail: false arm_cam3d_link: Alpha: 1 Show Axes: false Show Trail: false Value: true arm_cam3d_rgb_frame: Alpha: 1 Show Axes: false Show Trail: false arm_cam3d_rgb_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 Value: true 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 camera_mount_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 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 rear_platform_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true rear_platform_fence_link: Alpha: 1 Show Axes: false Show Trail: false Value: true 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 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: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: raw_color_pcl Position Transformer: XYZ Queue Size: 10 Selectable: false Size (Pixels): 3 Size (m): 0.0199999996 Style: Points Topic: /arm_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: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: tabletop_clusters Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Points Topic: /mcr_perception/scene_segmentation/tabletop_clusters Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/Marker Enabled: true Marker Topic: /mcr_perception/scene_segmentation/bounding_boxes Name: perception_markers 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; 255; 255 Color Transformer: RGB8 Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: passthrough_x Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 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: 0.300000012 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: tabletop_accum Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 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: true Name: Polygon Topic: /mcr_perception/convex_hull/output_polygon Unreliable: false Value: true - Class: rviz/Image Enabled: false 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: 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/LaserScan Color: 255; 255; 255 Color Transformer: "" Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: barrier_scan Position Transformer: "" Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: cloud_accumulator Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Boxes Topic: /mcr_perception/scene_segmentation/output Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Arrow Length: 0.100000001 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: DetectedCavities Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /mcr_perception/cavity_finder/output/pose Unreliable: false Value: true - Class: rviz/Image Enabled: false 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: false - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: detectedobjects Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /mcr_perception/multimodal_object_identification/output/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: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: mm_pointcloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Points Topic: /mcr_perception/multimodal_object_identification/output/pointclouds_combined 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: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: mm_platform Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Flat Squares Topic: /mcr_perception/multimodal_object_identification/output/platform_pointcloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/Image Enabled: false 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: false Enabled: false Name: Perception - Class: rviz/Group Displays: - Class: rviz/Image Enabled: false Image Topic: /arm_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: false - 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: squeezeDet_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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: raw_pointcloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Points Topic: /arm_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: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: rgb_tabletop_clusters Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Points Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_rgb 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: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: pcl_tabletop_clusters Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Points Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_pcl Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: rgb_PoseArray Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array Unreliable: false Value: true - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 255; 255 Enabled: true Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: pcl_PoseArray Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /mir_perception/multimodal_object_recognition/output/pcl_object_pose_array Unreliable: false Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /mir_perception/multimodal_object_recognition/pcl_labels Name: pcl_labels Namespaces: {} Queue Size: 100 Value: true - 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: true Marker Topic: /mir_perception/multimodal_object_recognition/bounding_boxes Name: bounding_boxes_pcl Namespaces: {} Queue Size: 100 Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 0; 170; 0 Enabled: true Head Length: 0.0500000007 Head Radius: 0.0799999982 Name: pose_selector Shaft Length: 0.400000006 Shaft Radius: 0.00899999961 Shape: Arrow Topic: /mcr_perception/object_selector/output/object_pose Unreliable: false Value: true Enabled: true Name: New_Perception - Class: rviz/Group Displays: - Alpha: 1 Class: rviz/Polygon Color: 255; 85; 0 Enabled: false Name: robot_footprint Topic: /move_base/local_costmap/footprint Unreliable: false Value: false - Alpha: 0.899999976 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: scan_front Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 Size (m): 0.00999999978 Style: Points Topic: /scan_front Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.899999976 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: scan_rear Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 Size (m): 0.00999999978 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: 0.699999988 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: local_costmap Topic: /move_base/local_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 0.200000003 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: global_costmap Topic: /move_base/global_costmap/costmap Unreliable: false Use Timestamp: false Value: true - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: global_plan_wo Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 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: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: global_plan_as_path 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: /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: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: dwa_global_plan 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: /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: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: local_plan 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: /move_base/DWAPlannerROS/local_plan Unreliable: false Value: true - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: amcl particles Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: obstacle_cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.0500000007 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: true Name: Navigation - Class: rviz/Group Displays: - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 85; 170; 0 Enabled: true Head Length: 0.100000001 Head Radius: 0.0299999993 Name: random object pose Shaft Length: 0.100000001 Shaft Radius: 0.00999999978 Shape: Arrow Topic: /mcr_perception/random_object_selector/output/object_pose Unreliable: false Value: true - Alpha: 0.899999976 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 170; 85; 255 Enabled: true Head Length: 0.100000001 Head Radius: 0.100000001 Name: modified pose Shaft Length: 0.5 Shaft Radius: 0.0500000007 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: 0.100000001 Class: rviz/Pose Color: 0; 85; 0 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: base_link_as_pose Shaft Length: 1 Shaft Radius: 0.0500000007 Shape: Arrow Topic: /mcr_navigation/direct_base_controller/pose_converter/converted_pose Unreliable: false Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 85; 85; 255 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: goal_pose Shaft Length: 1 Shaft Radius: 0.0500000007 Shape: Arrow Topic: /pose_transformer/transformed_pose Unreliable: false Value: true Enabled: false Name: direct_base_ctrl - Class: rviz/Group Displays: - Alpha: 0.899999976 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 0; 255; 0 Enabled: false Head Length: 0.100000001 Head Radius: 0.0299999993 Name: winner_pose Shaft Length: 0.100000001 Shaft Radius: 0.00999999978 Shape: Arrow Topic: /pregrasp_planner_pipeline/grasp_planner/pose_out Unreliable: false Value: false - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: false Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: generated_poses Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /pregrasp_planner_pipeline/pose_generator/poses_list Unreliable: false Value: false - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 255; 25; 0 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: pose_in_pregrasp_planner Shaft Length: 1 Shaft Radius: 0.0500000007 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: false 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: 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: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: LaserScan Position Transformer: "" Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: line_tracing_3d Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 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: 0.300000012 Head Length: 0.200000003 Length: 0.300000012 Line Style: Lines Line Width: 0.0299999993 Name: line_path 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: /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: 0.100000001 Axes Radius: 0.00999999978 Class: rviz/Pose Color: 255; 25; 0 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: grasp_pose Shaft Length: 1 Shaft Radius: 0.0500000007 Shape: Axes Topic: /mir_pregrasp_planner_pipeline/pose_out Unreliable: false Value: true - Alpha: 1 Axes Length: 0.200000003 Axes Radius: 0.00999999978 Class: rviz/Pose Color: 255; 25; 0 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: object_pose Shaft Length: 1 Shaft Radius: 0.0500000007 Shape: Axes Topic: /mcr_perception/object_selector/output/object_pose Unreliable: false Value: true - Alpha: 0.100000001 Axes Length: 0.100000001 Axes Radius: 0.00999999978 Class: rviz/Pose Color: 255; 0; 255 Enabled: true Head Length: 0.100000001 Head Radius: 0.00999999978 Name: base_goal_pose Shaft Length: 0.100000001 Shaft Radius: 0.00999999978 Shape: Axes Topic: /wbc_base_motion_calculator_pipeline/pose_transformer/transformed_pose Unreliable: false Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.100000001 Class: rviz/Pose Color: 0; 0; 0 Enabled: true Head Length: 0.300000012 Head Radius: 0.100000001 Name: base_start_pose Shaft Length: 0.100000001 Shaft Radius: 0.0500000007 Shape: Arrow Topic: /base_motion_calculator/pose_out_1 Unreliable: false Value: true - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: false Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: PoseArray Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /pregrasp_planner_pipeline/pose_generator/poses_list Unreliable: false Value: false Enabled: false Name: WBC Enabled: true Name: btt - Alpha: 1 Axes Length: 0.100000001 Axes Radius: 0.00999999978 Class: rviz/Pose Color: 255; 25; 0 Enabled: false Head Length: 0.300000012 Head Radius: 0.100000001 Name: Mockup_pose Shaft Length: 1 Shaft Radius: 0.0500000007 Shape: Axes Topic: /mir_states/object_selector/object_pose Unreliable: false Value: false - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: false Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: updated_axis_bolt_poses Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /mcr_perception/object_list_merger/updated_axis_bolt_pose Unreliable: false Value: false - Alpha: 1 Arrow Length: 0.300000012 Axes Length: 0.300000012 Axes Radius: 0.00999999978 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: false Head Length: 0.0700000003 Head Radius: 0.0299999993 Name: updated_container_pose Shaft Length: 0.230000004 Shaft Radius: 0.00999999978 Shape: Arrow (Flat) Topic: /mcr_perception/object_list_merger/updated_container_pose Unreliable: false Value: false 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 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: 4.24583197 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 0.428392589 Y: 0.0384034216 Z: 0.202103913 Focal Shape Fixed Size: true Focal Shape Size: 0.0500000007 Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 Pitch: 0.999799848 Target Frame: Value: Orbit (rviz) Yaw: 2.17139602 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1056 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false QMainWindow State: 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 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1920 X: 0 Y: 24 cavity_debug: collapsed: false debug_image: collapsed: false line_tracing_rgb: collapsed: false mm_rgb_debug: collapsed: false raw_image: collapsed: false squeezeDet_debug: collapsed: false