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yoneken/pepper.rviz

Created June 11, 2015 17:48
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ROS Pepper
Raw
pepper.rviz
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /DepthCloud1/Auto Size1
Splitter Ratio: 0.5
Tree Height: 487
- 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: DepthCloud
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
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: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
BumperB_frame:
Alpha: 1
Show Axes: false
Show Trail: false
BumperFL_frame:
Alpha: 1
Show Axes: false
Show Trail: false
BumperFR_frame:
Alpha: 1
Show Axes: false
Show Trail: false
CameraBottom_frame:
Alpha: 1
Show Axes: false
Show Trail: false
CameraBottom_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
CameraDepth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
CameraDepth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
CameraTop_frame:
Alpha: 1
Show Axes: false
Show Trail: false
CameraTop_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
ChestButton_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Head:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
HeadTouchFront_frame:
Alpha: 1
Show Axes: false
Show Trail: false
HeadTouchMiddle_frame:
Alpha: 1
Show Axes: false
Show Trail: false
HeadTouchRear_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
ImuBaseAccelerometer_frame:
Alpha: 1
Show Axes: false
Show Trail: false
ImuBaseGyrometer_frame:
Alpha: 1
Show Axes: false
Show Trail: false
ImuTorsoAccelerometer_frame:
Alpha: 1
Show Axes: false
Show Trail: false
ImuTorsoGyrometer_frame:
Alpha: 1
Show Axes: false
Show Trail: false
LBicep:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LElbow:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger11_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger12_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger13_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger21_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger22_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger23_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger31_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger32_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger33_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger41_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger42_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFinger43_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LForeArm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LHandTouchBack_frame:
Alpha: 1
Show Axes: false
Show Trail: false
LShoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LSpeaker_frame:
Alpha: 1
Show Axes: false
Show Trail: false
LThumb1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LThumb2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
Neck:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Pelvis:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RBicep:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RElbow:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger11_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger12_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger13_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger21_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger22_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger23_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger31_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger32_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger33_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger41_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger42_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RFinger43_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RForeArm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RHandTouchBack_frame:
Alpha: 1
Show Axes: false
Show Trail: false
RShoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RSpeaker_frame:
Alpha: 1
Show Axes: false
Show Trail: false
RThumb1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RThumb2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
ShovelLaser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
SonarBack_frame:
Alpha: 1
Show Axes: false
Show Trail: false
SonarFront_frame:
Alpha: 1
Show Axes: false
Show Trail: false
SurroundingFrontLaser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
SurroundingLeftLaser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
SurroundingRightLaser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Tablet_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Tibia:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
VerticalLeftLaser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
VerticalRightLaser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
WheelB_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
WheelFL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
WheelFR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
l_gripper:
Alpha: 1
Show Axes: false
Show Trail: false
l_wrist:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper:
Alpha: 1
Show Axes: false
Show Trail: false
r_wrist:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso:
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
- Alpha: 1
Auto Size:
Auto Size Factor: 1
Value: true
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/DepthCloud
Color: 255; 255; 255
Color Image Topic: /camera/front/camera/image_raw
Color Transformer: RGB8
Color Transport Hint: raw
Decay Time: 0
Depth Map Topic: /camera/depth/camera/image_raw
Depth Map Transport Hint: raw
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: DepthCloud
Occlusion Compensation:
Occlusion Time-Out: 30
Value: false
Position Transformer: XYZ
Queue Size: 5
Selectable: true
Size (Pixels): 3
Style: Flat Squares
Topic Filter: true
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/front/camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 100
Topic: /pepper_robot/sonar/front/sonar
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 255; 255; 255
Enabled: true
Name: Range
Queue Size: 100
Topic: /pepper_robot/sonar/back/sonar
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Squares
Topic: /pepper/laser/shovel/pointcloud
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Squares
Topic: /pepper/laser/srd_front/pointcloud
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Squares
Topic: /pepper/laser/srd_left/pointcloud
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Squares
Topic: /pepper/laser/srd_right/pointcloud
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Boxes
Topic: /pepper/laser/ground_left/pointcloud
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Boxes
Topic: /pepper/laser/ground_right/pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_footprint
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: 5.23461
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.341849
Y: -0.491304
Z: 0.940335
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.165398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.6354
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 972
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000013c00000342fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000017b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000276000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002a4000000c60000001600ffffff000000010000010f00000342fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000342000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000029c0000034200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1267
X: 771
Y: 14
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