ros2: update rviz config (#27)

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
ethz-asl · Nov 13, 2023 · ef21a5d · ef21a5d
1 parent 5827450
commit ef21a5d
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Showing 3 changed files with 17 additions and 14 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -88,6 +88,11 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
+install(DIRECTORY
+  rviz
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 # Test
 include(CTest)
 if(BUILD_TESTING)

diff --git a/launch/load_tif.launch.py b/launch/load_tif.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
     rviz = Node(
         package="rviz2",
         executable="rviz2",
-        arguments=["-d", os.path.join(pkg_grid_map_geo, "launch", "config.rviz")],
+        arguments=["-d", os.path.join(pkg_grid_map_geo, "rviz", "config.rviz")],
         condition=IfCondition(LaunchConfiguration("rviz")),
     )
 

diff --git a/launch/config.rviz → rviz/config.rviz b/launch/config.rviz → rviz/config.rviz
@@ -7,10 +7,8 @@ Panels:
         - /Global Options1
         - /Status1
         - /GridMap1
-        - /GridMap1/Status1
-        - /GridMap1/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 1106
+    Tree Height: 381
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -66,13 +64,13 @@ Visualization Manager:
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: GridMap
-      Show Grid Lines: false
+      Show Grid Lines: true
       Topic:
         Depth: 5
-        Durability Policy: System Default
+        Durability Policy: Volatile
         Filter size: 10
-        History Policy: System Default
-        Reliability Policy: System Default
+        History Policy: Keep Last
+        Reliability Policy: Reliable
         Value: /grid_map_geo/elevation_map
       Use Rainbow: true
       Value: true
@@ -122,7 +120,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 1285.9224853515625
+      Distance: 8199.341796875
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -145,18 +143,18 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1403
+  Height: 670
   Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004dd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004ddfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004dd000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000078f000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001630000021afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c0000021a000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004280000003efc0100000002fb0000000800540069006d00650100000000000004280000023d00fffffffb0000000800540069006d00650100000000000004500000000000000000000002c40000021a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
-  Width: 2560
+    collapsed: true
+  Width: 1060
   X: 0
   Y: 0