Rviz config for viewing Udacity dataset with lidar

disp.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /PointCloud21
      Splitter Ratio: 0.784387
    Tree Height: 775
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: camera_left
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: false
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 1000
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz/Image
      Enabled: true
      Image Topic: /left_camera/image_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: camera_left
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /right_camera/image_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: camera_right
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /center_camera/image_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: camera_center
      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
      Max Intensity: 184
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.05
      Style: Flat Squares
      Topic: /velodyne_points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: velodyne
    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: /interactive_waypoint/add_waypoint
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
    - Class: auro_rviz_plugins/OverlayPicker
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 25.6872
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -4.76837e-07
        Y: -1.90735e-06
        Z: 9.53674e-07
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.620398
      Target Frame: base_link
      Value: Orbit (rviz)
      Yaw: 4.56358
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1056
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001b700000396fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000000a0049006d006100670065010000026e000001500000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006102000003a9000000ab000002e00000029afb0000000a0049006d0061006700650100000249000001760000000000000000fb0000000a0049006d00610067006501000001d4000000780000000000000000fb0000001600630061006d006500720061005f006c0065006600740300000208000002a70000015e00000121fb0000001a00630061006d006500720061005f00630065006e0074006500720300000374000002a80000015f00000120fb0000001800630061006d006500720061005f0072006900670068007403000004db000002a80000017100000120000000010000010f00000396fc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000013d0000006400fffffffb0000000a00560069006500770073010000016b00000253000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000002cc000000f30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000046d0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1855
  X: 65
  Y: 24
  camera_center:
    collapsed: false
  camera_left:
    collapsed: false
  camera_right:
    collapsed: false