Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Axes1 - /odometry1/odomPath1 - /mapping1 - /mapping1/surround1 - /mapping1/currPoints1 - /mapping1/PointCloud21 - /mapping1/PointCloud22 - /Debug1/PointCloud21 - /Debug1/PointCloud22 - /Debug1/PointCloud23 - /Odometry1/Odometry1 - /Odometry1/Odometry1/Shape1 - /Odometry1/Odometry2 - /Odometry1/Odometry2/Shape1 - /Odometry1/Odometry3 - /Odometry1/Odometry3/Shape1 - /Features1/PointCloud21 - /Features1/PointCloud22 - /Features1/PointCloud23 - /Axes2 - /Odometry2/Shape1 - /Path1 Splitter Ratio: 0.520588219165802 Tree Height: 839 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: currPoints Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 1 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: false 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: 160 Reference Frame: Value: false - Class: rviz/Axes Enabled: true Length: 0.699999988079071 Name: Axes Radius: 0.05999999865889549 Reference Frame: Value: true - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 170; 0 Enabled: false Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: gtPathlc Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /path_gt Unreliable: false Value: false - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 170; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: gtPathLidar Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /path_gt_lidar Unreliable: false Value: true Enabled: false Name: GT - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 85; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.10000000149011612 Name: odomPath Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /laser_odom_path Unreliable: false Value: true Enabled: false Name: odometry - Class: rviz/Group Displays: - 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: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15 Min Color: 0; 0; 0 Min Intensity: 0 Name: surround Position Transformer: XYZ Queue Size: 1 Selectable: false Size (Pixels): 2 Size (m): 0.05000000074505806 Style: Points Topic: /cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 7.485495090484619 Min Value: -0.6337304711341858 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 1e+9 Enabled: true Invert Rainbow: true Max Color: 255; 255; 255 Max Intensity: 90.00662994384766 Min Color: 0; 0; 0 Min Intensity: 0 Name: currPoints Position Transformer: XYZ Queue Size: 100000 Selectable: true Size (Pixels): 1 Size (m): 0.009999999776482582 Style: Points Topic: /cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5.01795768737793 Min Value: -0.3809538185596466 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 239; 41; 41 Max Intensity: 0 Min Color: 239; 41; 41 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 1 Selectable: true Size (Pixels): 3 Size (m): 0.05999999865889549 Style: Flat Squares Topic: /cloud_effected Unreliable: false Use Fixed Frame: true Use rainbow: false Value: false - Alpha: 0.800000011920929 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 239; 41; 41 Color Transformer: FlatColor Decay Time: 0 Enabled: false 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: 1 Selectable: true Size (Pixels): 3 Size (m): 0.20000000298023224 Style: Flat Squares Topic: /Laser_map Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: mapping - Class: rviz/Group Displays: - 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: FlatColor Decay Time: 100000 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15.00274658203125 Min Color: 0; 0; 0 Min Intensity: -0.0028979615308344364 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Spheres Topic: /laser_cloud_sharp Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 2.305999994277954 Min Value: -0.6200000047683716 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 98; 255; 245 Color Transformer: FlatColor Decay Time: 1e+6 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 353 Min Color: 0; 0; 0 Min Intensity: 2 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /laser_cloud_flat Unreliable: false 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: 100000 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 324 Min Color: 0; 0; 0 Min Intensity: 91 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /laser_cloud_less_sharp Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true Enabled: false Name: Debug - Class: rviz/Group Displays: - Angle Tolerance: 0.009999999776482582 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: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 1000 Name: Odometry Position Tolerance: 0.009999999776482582 Shape: Alpha: 1 Axes Length: 0.5 Axes Radius: 0.009999999776482582 Color: 0; 255; 0 Head Length: 0 Head Radius: 0 Shaft Length: 0.05000000074505806 Shaft Radius: 0.05000000074505806 Value: Arrow Topic: /re_local_pose Unreliable: false Value: true - Angle Tolerance: 0.009999999776482582 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: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 10000 Name: Odometry Position Tolerance: 0.0010000000474974513 Shape: Alpha: 1 Axes Length: 0.20000000298023224 Axes Radius: 0.05000000074505806 Color: 255; 85; 0 Head Length: 0 Head Radius: 0 Shaft Length: 0.05000000074505806 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /aft_mapped_to_init Unreliable: false Value: true - Angle Tolerance: 0.10000000149011612 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: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 1 Name: Odometry Position Tolerance: 0.0010000000474974513 Shape: Alpha: 1 Axes Length: 0.20000000298023224 Axes Radius: 0.05000000074505806 Color: 255; 25; 0 Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /re_local_pose Unreliable: false Value: true Enabled: false Name: Odometry - Class: rviz/Group Displays: - 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; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 38.0005989074707 Min Color: 0; 0; 0 Min Intensity: 1.000100016593933 Name: PointCloud2 Position Transformer: XYZ Queue Size: 1 Selectable: true Size (Pixels): 7 Size (m): 0.20000000298023224 Style: Points Topic: /laser_cloud_flat Unreliable: false 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: 78; 154; 6 Max Intensity: 0 Min Color: 78; 154; 6 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.07999999821186066 Style: Flat Squares Topic: /livox_undistort Unreliable: false Use Fixed Frame: true Use rainbow: 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: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 155 Min Color: 255; 255; 255 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 1 Selectable: true Size (Pixels): 3 Size (m): 0.019999999552965164 Style: Flat Squares Topic: /livox_cloud Unreliable: false Use Fixed Frame: true Use rainbow: false Value: false Enabled: false Name: Features - Class: rviz/Axes Enabled: true Length: 0.699999988079071 Name: Axes Radius: 0.05999999865889549 Reference Frame: aft_mapped Value: true - Angle Tolerance: 0.10000000149011612 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: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: false Keep: 10000 Name: Odometry Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 0.20000000298023224 Axes Radius: 0.05000000074505806 Color: 25; 255; 255 Head Length: 0 Head Radius: 0 Shaft Length: 0.10000000149011612 Shaft Radius: 0.10000000149011612 Value: Arrow Topic: /aft_mapped_to_init Unreliable: false Value: false - Alpha: 0 Buffer Length: 2 Class: rviz/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0 Head Length: 0 Length: 0.30000001192092896 Line Style: Lines Line Width: 0.029999999329447746 Name: Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 25; 255; 0 Pose Style: Arrows Radius: 0.029999999329447746 Shaft Diameter: 0.15000000596046448 Shaft Length: 0.15000000596046448 Topic: /path Unreliable: false Value: true - Class: rviz/Image Enabled: false Image Topic: /image_raw Max Value: 1 Median window: 5 Min Value: 0 Name: Image Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: false Enabled: true Global Options: Background Color: 0; 0; 0 Default Light: true Fixed Frame: camera_init 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 Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5 - 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: 49.2824821472168 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 9.622546195983887 Y: -18.686565399169922 Z: -4.2439751625061035 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.8597958087921143 Target Frame: Value: Orbit (rviz) Yaw: 2.7072019577026367 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1056 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false QMainWindow State: 000000ff00000000fd00000004000000000000026d00000384fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000384000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001aa000001e20000001600fffffffb0000000a0049006d00610067006501000002730000027f00000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074900000052fc0100000002fb0000000800540069006d0065010000000000000749000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d60000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1865 X: 55 Y: 24