update jsk_startup.rviz for l515 head

jsk-ros-pkg · Jun 23, 2023 · f3ca4d8 · f3ca4d8
1 parent 0c26514
commit f3ca4d8
Showing 1 changed file with 74 additions and 15 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.4187380373477936
-    Tree Height: 595
+    Tree Height: 1319
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +27,7 @@ Panels:
     SyncSource: BaseScan
   - Class: jsk_rviz_plugin/CancelAction
     Name: CancelAction
-    Topic: /move_base
+    Topic: ""
     topics:
       - /move_base
 Preferences:
@@ -65,6 +65,11 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_camera_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         base_link:
           Alpha: 1
           Show Axes: false
@@ -80,6 +85,14 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        d435_front_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        d435_front_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         elbow_flex_link:
           Alpha: 1
           Show Axes: false
@@ -100,6 +113,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        head_box_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         head_camera_depth_frame:
           Alpha: 1
           Show Axes: false
@@ -120,6 +138,11 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        head_l515_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         head_pan_link:
           Alpha: 1
           Show Axes: false
@@ -130,6 +153,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        l515_head_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         l_gripper_finger_link:
           Alpha: 1
           Show Axes: false
@@ -229,7 +256,7 @@ Visualization Manager:
       Head Length: 0.20000000298023224
       Length: 0.30000001192092896
       Line Style: Billboards
-      Line Width: 0.3
+      Line Width: 0.30000001192092896
       Name: NavigationPath
       Offset:
         X: 0
@@ -252,7 +279,7 @@ Visualization Manager:
       Head Length: 0.20000000298023224
       Length: 0.30000001192092896
       Line Style: Billboards
-      Line Width: 0.1
+      Line Width: 0.10000000149011612
       Name: GlobalPath
       Offset:
         X: 0
@@ -432,6 +459,36 @@ Visualization Manager:
       top: 10
       transport hint: raw
       width: 320
+    - 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: HeadL515PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /l515_head/depth/color/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -462,33 +519,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10
+      Distance: 10.471776962280273
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.00829183217138052
+        Y: 0.022624600678682327
+        Z: -0.003759089857339859
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7897970676422119
+      Pitch: 0.5747973322868347
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 5.593582630157471
+      Yaw: 1.745403528213501
     Saved: ~
 Window Geometry:
+  CancelAction:
+    collapsed: true
   Displays:
-    collapsed: false
-  Height: 1052
-  Hide Left Dock: false
+    collapsed: true
+  Height: 1865
+  Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f80000037efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000037e000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f8000006abfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000005b2000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e00000005f5000000f30000007f00ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f5000006ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -497,6 +556,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1853
+  Width: 1013
   X: 67
   Y: 27