698 lines
21 KiB
YAML
698 lines
21 KiB
YAML
Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Axes1
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- /odometry1/odomPath1
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- /mapping1
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- /mapping1/surround1
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- /mapping1/currPoints1
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- /mapping1/PointCloud21
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- /Debug1/PointCloud21
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- /Debug1/PointCloud22
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- /Debug1/PointCloud23
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- /Odometry1/Odometry1
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- /Odometry1/Odometry1/Shape1
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- /Odometry1/Odometry2
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- /Odometry1/Odometry2/Shape1
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- /Odometry1/Odometry3
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- /Odometry1/Odometry3/Shape1
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- /Features1
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- /Features1/PointCloud21
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- /Features1/PointCloud22
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- /Features1/PointCloud23
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- /Axes2
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- /Odometry2
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- /Odometry2/Shape1
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- /Marker1
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- /PointStamped1
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Splitter Ratio: 0.5
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Tree Height: 1066
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: currPoints
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: false
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 160
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Reference Frame: <Fixed Frame>
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Value: false
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- Class: rviz/Axes
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Enabled: true
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Length: 0.5
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Name: Axes
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Radius: 0.10000000149011612
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 255; 170; 0
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Enabled: false
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: gtPathlc
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /path_gt
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Unreliable: false
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Value: false
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 255; 170; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: gtPathLidar
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /path_gt_lidar
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Unreliable: false
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Value: true
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Enabled: false
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Name: GT
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 255; 85; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.10000000149011612
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Name: odomPath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /laser_odom_path
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Unreliable: false
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Value: true
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Enabled: false
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Name: odometry
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Buffer Length: 10000
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Class: rviz/Path
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Color: 255; 85; 0
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Enabled: false
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: mappingPath
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /laser_odom_path
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Unreliable: false
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 15
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: surround
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Position Transformer: XYZ
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Queue Size: 1
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Selectable: false
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Size (Pixels): 4
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Size (m): 0.05000000074505806
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Style: Points
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Topic: /cloud_registered
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 0.20000000298023224
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: -1.7674484252929688
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Min Value: -8.243647575378418
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 1e+9
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Enabled: true
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Invert Rainbow: true
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Max Color: 255; 255; 255
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Max Intensity: 90.00662994384766
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: currPoints
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Position Transformer: XYZ
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Queue Size: 100000
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Selectable: true
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Size (Pixels): 1
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /cloud_registered
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 0; 0
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Max Intensity: 152
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Min Color: 255; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.05000000074505806
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Style: Flat Squares
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Topic: /Laser_map
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: false
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Value: false
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Enabled: true
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Name: mapping
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- Class: rviz/Group
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Displays:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 100000
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 15.00274658203125
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Min Color: 0; 0; 0
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Min Intensity: -0.0028979615308344364
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.05000000074505806
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Style: Spheres
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Topic: /laser_cloud_sharp
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.305999994277954
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Min Value: -0.6200000047683716
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 98; 255; 245
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Color Transformer: FlatColor
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Decay Time: 1e+6
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 353
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Min Color: 0; 0; 0
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Min Intensity: 2
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /laser_cloud_flat
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 100000
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 324
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Min Color: 0; 0; 0
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Min Intensity: 91
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /laser_cloud_less_sharp
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: false
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Name: Debug
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- Class: rviz/Group
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Displays:
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- Angle Tolerance: 0.009999999776482582
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.30000001192092896
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: true
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Keep: 1000
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Name: Odometry
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Position Tolerance: 0.009999999776482582
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Shape:
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Alpha: 1
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Axes Length: 0.5
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Axes Radius: 0.009999999776482582
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Color: 0; 255; 0
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Head Length: 0
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Head Radius: 0
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Shaft Length: 0.05000000074505806
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Shaft Radius: 0.05000000074505806
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Value: Arrow
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Topic: /re_local_pose
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Unreliable: false
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Value: true
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- Angle Tolerance: 0.009999999776482582
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.30000001192092896
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: true
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Keep: 10000
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Name: Odometry
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Position Tolerance: 0.0010000000474974513
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Shape:
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Alpha: 1
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Axes Length: 0.20000000298023224
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Axes Radius: 0.05000000074505806
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Color: 255; 85; 0
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Head Length: 0
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Head Radius: 0
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Shaft Length: 0.05000000074505806
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Shaft Radius: 0.05000000074505806
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Value: Axes
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Topic: /aft_mapped_to_init
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Unreliable: false
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Value: true
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- Angle Tolerance: 0.10000000149011612
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.30000001192092896
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: true
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Keep: 1
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Name: Odometry
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Position Tolerance: 0.0010000000474974513
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Shape:
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Alpha: 1
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Axes Length: 0.20000000298023224
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Axes Radius: 0.05000000074505806
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Color: 255; 25; 0
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Value: Axes
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Topic: /re_local_pose
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Unreliable: false
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Value: true
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Enabled: false
|
|
Name: Odometry
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|
- Class: rviz/Group
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|
Displays:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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|
Max Value: 10
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|
Min Value: -10
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Value: true
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Axis: Z
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|
Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 0; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 38.0005989074707
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Min Color: 0; 0; 0
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Min Intensity: 1.000100016593933
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 1
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Selectable: true
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Size (Pixels): 5
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|
Size (m): 0.20000000298023224
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Style: Points
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|
Topic: /laser_cloud_flat
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|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: true
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|
- Alpha: 1
|
|
Autocompute Intensity Bounds: true
|
|
Autocompute Value Bounds:
|
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 78; 154; 6
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Max Intensity: 155
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Min Color: 78; 154; 6
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
|
|
Size (m): 0.05999999865889549
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|
Style: Flat Squares
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|
Topic: /livox_undistort
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: false
|
|
Value: true
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|
- Alpha: 1
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|
Autocompute Intensity Bounds: true
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|
Autocompute Value Bounds:
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|
Max Value: 10
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|
Min Value: -10
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Value: true
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Axis: Z
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|
Channel Name: intensity
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Class: rviz/PointCloud2
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|
Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
|
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Max Intensity: 160
|
|
Min Color: 255; 255; 255
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|
Min Intensity: 0
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|
Name: PointCloud2
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|
Position Transformer: XYZ
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|
Queue Size: 1
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.019999999552965164
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|
Style: Flat Squares
|
|
Topic: /livox_cloud
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: false
|
|
Value: false
|
|
Enabled: true
|
|
Name: Features
|
|
- Class: rviz/Axes
|
|
Enabled: true
|
|
Length: 1
|
|
Name: Axes
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|
Radius: 0.10000000149011612
|
|
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: true
|
|
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: true
|
|
- Class: rviz/Marker
|
|
Enabled: false
|
|
Marker Topic: visualization_marker
|
|
Name: Marker
|
|
Namespaces:
|
|
{}
|
|
Queue Size: 100
|
|
Value: false
|
|
- Alpha: 1
|
|
Class: rviz/PointStamped
|
|
Color: 204; 41; 204
|
|
Enabled: true
|
|
History Length: 1
|
|
Name: PointStamped
|
|
Radius: 0.20000000298023224
|
|
Topic: /clicked_point
|
|
Unreliable: false
|
|
Value: true
|
|
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: 34.710601806640625
|
|
Enable Stereo Rendering:
|
|
Stereo Eye Separation: 0.05999999865889549
|
|
Stereo Focal Distance: 1
|
|
Swap Stereo Eyes: false
|
|
Value: false
|
|
Focal Point:
|
|
X: 6.608828544616699
|
|
Y: 3.081573247909546
|
|
Z: -3.704350709915161
|
|
Focal Shape Fixed Size: true
|
|
Focal Shape Size: 0.05000000074505806
|
|
Invert Z Axis: false
|
|
Name: Current View
|
|
Near Clip Distance: 0.009999999776482582
|
|
Pitch: -0.17020323872566223
|
|
Target Frame: <Fixed Frame>
|
|
Value: Orbit (rviz)
|
|
Yaw: 3.0474979877471924
|
|
Saved: ~
|
|
Window Geometry:
|
|
Displays:
|
|
collapsed: false
|
|
Height: 1383
|
|
Hide Left Dock: false
|
|
Hide Right Dock: true
|
|
QMainWindow State: 000000ff00000000fd000000040000000000000156000004b5fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000618000001a800000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004df00000052fc0100000002fb0000000800540069006d00650100000000000004df000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000383000004b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: true
|
|
Width: 1247
|
|
X: 67
|
|
Y: 27
|