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Jaeyoung-LimJaeyoung-Lim
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Fix goal position and rviz configs
1 parent 7015e30 commit 77b0a81

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4 files changed

+384
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‎terrain_planner_benchmark/launch/config.rviz‎

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Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /GridMap1/ElevationGridMap1
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- /Planning1
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Splitter Ratio: 0.5
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Tree Height: 930
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /Publish Point1
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- /Interact1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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- Class: rviz_plugin_tutorials/Teleop
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Name: Teleop
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Topic: ""
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- Class: mav_planning_rviz/PlanningPanel
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Name: PlanningPanel
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flight_stack: px4
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namespace: ""
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odometry_topic: ""
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planner_name: davosdorf
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planning_budget: 10
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1000
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_default_plugins/Axes
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Enabled: true
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Length: 100
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Name: MapAxes
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Radius: 10
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Reference Frame: map
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Value: true
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- Class: rviz_common/Group
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Displays:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Class: grid_map_rviz_plugin/GridMap
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Color: 200; 200; 200
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Color Layer: color
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Color Transformer: ColorLayer
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Enabled: true
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Height Layer: elevation
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Height Transformer: GridMapLayer
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History Length: 1
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 10
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: ElevationGridMap
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Show Grid Lines: false
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /grid_map
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Use Rainbow: true
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Value: true
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- Alpha: 0.5
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Autocompute Intensity Bounds: true
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Class: grid_map_rviz_plugin/GridMap
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Color: 85; 170; 255
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Color Layer: elevation
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Color Transformer: FlatColor
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Enabled: false
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Height Layer: safety
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Height Transformer: GridMapLayer
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History Length: 1
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 10
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: SafetyGridMap
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Show Grid Lines: false
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /grid_map
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Use Rainbow: true
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Value: false
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- Alpha: 0.20000000298023224
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Autocompute Intensity Bounds: true
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Class: grid_map_rviz_plugin/GridMap
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Color: 255; 0; 0
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Color Layer: elevation
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Color Transformer: FlatColor
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Enabled: false
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Height Layer: max_elevation
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Height Transformer: Layer
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History Length: 1
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 10
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MaxElevationGridMap
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Show Grid Lines: false
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /grid_map
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Use Rainbow: true
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Value: false
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- Alpha: 0.8999999761581421
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Autocompute Intensity Bounds: true
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Class: grid_map_rviz_plugin/GridMap
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Color: 200; 200; 200
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Color Layer: elevation
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Color Transformer: GridMapLayer
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Enabled: false
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Height Layer: elevation
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Height Transformer: GridMapLayer
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History Length: 1
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 10
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: AvalancheGridMap
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Show Grid Lines: false
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /avalanche_map
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Use Rainbow: true
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Value: false
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Enabled: true
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Name: GridMap
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- Class: rviz_common/Group
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Displays:
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: GoalMarker
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_marker
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Value: true
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: PositionTargetMarker
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /position_target
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Value: true
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: CurvatureTargetMarker
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /curvature_target
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Value: true
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- Class: rviz_default_plugins/InteractiveMarkers
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Enable Transparency: true
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Enabled: true
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Interactive Markers Namespace: /goal
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Name: GoalMarkers
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Show Axes: true
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Show Descriptions: true
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Show Visual Aids: true
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Value: true
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- Class: rviz_default_plugins/MarkerArray
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Enabled: true
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Name: GoalMarkerArray
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_marker_array
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Value: true
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- Class: rviz_default_plugins/MarkerArray
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Enabled: true
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Name: PathSegmentsMarkerArray
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /path_segments
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Value: true
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- Class: rviz_default_plugins/MarkerArray
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Enabled: false
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Name: TreeMarkerArray
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /tree
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Value: false
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- Alpha: 1
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Buffer Length: 1
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Class: rviz_default_plugins/Path
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Color: 255; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: ReferencePath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /path
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Value: true
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Enabled: true
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Name: Planning
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Enabled: true
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Global Options:
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Background Color: 255; 255; 255
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /move_base_simple/goal
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: nav2_rviz_plugins/GoalTool
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 3363.000244140625
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -324.49951171875
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Y: -279.8844299316406
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Z: 1438.21044921875
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.7297971248626709
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Target Frame: map
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Value: Orbit (rviz_default_plugins)
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Yaw: 0.7050155997276306
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1136
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Hide Left Dock: false
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Hide Right Dock: true
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PlanningPanel:
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collapsed: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000003ddfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000078000003dd000000c700fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c0000000263000001f20000014e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000006e00ffffff000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000064000002da000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073a00000037fc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d00650100000000000004500000000000000000000005de000003dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Teleop:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1850
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X: 872
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Y: 1467

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