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ekf_config.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Encoder_Imu1/Shape1
- /Encoder_Imu1/Covariance1
- /Only IMU1/Shape1
- /Only Encoders1/Shape1
- /Odometry1/Shape1
- /Encoder_Imu_Vins1/Shape1
- /TF1
- /TF1/Frames1
- /TwistStamped1
- /PointCloud1
Splitter Ratio: 0.5
Tree Height: 317
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
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
- Class: rviz/Image
Enabled: true
Image Topic: /vins_estimator/image_track
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /vins_estimator/image_track
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 100000
Name: Encoder_Imu
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 187; 241; 255
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.300000012
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odometry/imu_encoders
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 10000
Name: Only IMU
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 166; 103
Head Length: 0.0500000007
Head Radius: 0.100000001
Shaft Length: 0.100000001
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odometry/only_imu
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 100000
Name: Only Encoders
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 133; 109; 173
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.300000012
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odometry/only_wheel_encoders
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 10000
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 255; 255
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.300000012
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odometry/imu_encoders_vins
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 10000
Name: Only Vins
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 199; 90; 134
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.300000012
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odometry/vins_only
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 10000
Name: Encoder_Imu_Vins
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 255; 127
Head Length: 0.100000001
Head Radius: 0.0500000007
Shaft Length: 0.100000001
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odometry/imu_encoders_vins
Unreliable: false
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/Pose
Color: 255; 25; 0
Enabled: false
Head Length: 0.100000001
Head Radius: 0.100000001
Name: Vicon Pose
Shaft Length: 0.300000012
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /JA01/world
Unreliable: false
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /JA01/vicon/markers
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /vins_estimator/path
Unreliable: false
Value: true
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: false
History Length: 1
Name: Imu
Topic: /JA01/imu_3dm/data_raw
Unreliable: false
Value: false
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
JA01:
Value: false
JA01_base_link:
Value: true
JA01_center:
Value: false
JA01_imu_3dm_link:
Value: false
camera_d435i_infra1_optical_frame:
Value: false
camera_d435i_link:
Value: false
vicon:
Value: false
world:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
vicon:
{}
Update Interval: 0
Value: true
- Class: jsk_rviz_plugin/TwistStamped
Enabled: false
Name: TwistStamped
Topic: /vins/twist
Unreliable: false
Value: false
angular color: 255; 255; 255
angular scale: 0.5
linear color: 255; 0; 0
linear scale: 0.5
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 10
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /vins_estimator/point_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
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: 30.8313866
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.742425323
Y: 0.259751022
Z: -0.352020562
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.56979632
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.71359444
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 831
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002b5fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000017e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000022e000000b30000001600fffffffb0000000a0049006d00610067006501000001ac000001310000001600ffffff000000010000013c000002b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002b5000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e60000003efc0100000002fb0000000800540069006d00650100000000000005e60000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000334000002b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1510
X: 2615
Y: 42