Panels: - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 Splitter Ratio: 0.5147058963775635 Tree Height: 505 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: Value: true - Class: rtabmap_rviz_plugins/Info Enabled: true Name: Info Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /rtabmap/info 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: rtabmap_rviz_plugins/MapCloud Cloud decimation: 4 Cloud from scan: false Cloud max depth (m): 4 Cloud min depth (m): 0 Cloud voxel size (m): 0.009999999776482582 Color: 255; 255; 255 Color Transformer: RGB8 Download graph: false Download map: false Download namespace: rtabmap Enabled: true Filter ceiling (m): 0 Filter floor (m): 0 Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: MapCloud Node filtering angle (degrees): 30 Node filtering radius (m): 0 Position Transformer: XYZ Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /rtabmap/mapData Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Class: rtabmap_rviz_plugins/MapGraph Enabled: true Global loop closure: 255; 0; 0 Landmark: 0; 128; 0 Local loop closure: 255; 255; 0 Merged neighbor: 255; 170; 0 Name: MapGraph Neighbor: 0; 0; 255 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /rtabmap/mapGraph User: 255; 0; 0 Value: true Virtual: 255; 0; 255 - Class: rviz_default_plugins/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true map: Value: true oak-d-base-frame: Value: true oak-d_frame: Value: true oak_imu_frame: Value: true oak_left_camera_frame: Value: true oak_left_camera_optical_frame: Value: true oak_model_origin: Value: true oak_rgb_camera_frame: Value: true oak_rgb_camera_optical_frame: Value: true oak_right_camera_frame: Value: true oak_right_camera_optical_frame: Value: true odom: Value: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: map: odom: oak-d-base-frame: oak-d_frame: oak_imu_frame: {} oak_left_camera_frame: oak_left_camera_optical_frame: {} oak_model_origin: {} oak_rgb_camera_frame: oak_rgb_camera_optical_frame: {} oak_right_camera_frame: oak_right_camera_optical_frame: {} Update Interval: 0 Value: true - Alpha: 0.699999988079071 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /rtabmap/map Update Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /rtabmap/map_updates Use Timestamp: 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_default_plugins/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: Odom Local Map Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /rtabmap/odom_local_map 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_default_plugins/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: Camera Cloud Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /voxel_cloud Use Fixed Frame: true Use rainbow: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Fixed Frame: map Frame Rate: 30 Name: root Tools: - Class: rviz_default_plugins/Interact Hide Inactive Objects: true - Class: rviz_default_plugins/MoveCamera - Class: rviz_default_plugins/Select - Class: rviz_default_plugins/FocusCamera - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /initialpose - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /goal_pose - Class: rviz_default_plugins/PublishPoint Single click: true Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /clicked_point Transformation: Current: Class: rviz_default_plugins/TF Value: true Views: Current: Class: rviz_default_plugins/Orbit Distance: 1.935564398765564 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 0.024472296237945557 Y: 0.1059575080871582 Z: 0.36562198400497437 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.14039947092533112 Target Frame: map Value: Orbit (rviz_default_plugins) Yaw: 3.175398111343384 Saved: ~ Window Geometry: Displays: collapsed: false Height: 734 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd00000004000000000000015600000284fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000284000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000284fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000284000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003db0000028400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1335 X: 481 Y: 199