From c28912f0c1f6b7f937404db7ade8df12c3811c0d Mon Sep 17 00:00:00 2001 From: mingyu wang <wangmingyu1@gmail.com> Date: Sun, 1 Nov 2020 15:58:11 -0800 Subject: [PATCH] update rviz file - set default to use .rviz file from carla_circle package --- launch/mcity_event1.launch | 2 +- resource/carla_default_rviz.cfg.rviz | 260 +++++++++++++++++++++++++++ 2 files changed, 261 insertions(+), 1 deletion(-) create mode 100644 resource/carla_default_rviz.cfg.rviz diff --git a/launch/mcity_event1.launch b/launch/mcity_event1.launch index 5d358d7..bd602dc 100644 --- a/launch/mcity_event1.launch +++ b/launch/mcity_event1.launch @@ -31,6 +31,6 @@ </include> <!-- visualization --> - <node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_ros_bridge)/config/carla_default_rviz.cfg.rviz" /> + <node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_circle)/resource/carla_default_rviz.cfg.rviz" /> </launch> diff --git a/resource/carla_default_rviz.cfg.rviz b/resource/carla_default_rviz.cfg.rviz new file mode 100644 index 0000000..0452950 --- /dev/null +++ b/resource/carla_default_rviz.cfg.rviz @@ -0,0 +1,260 @@ +Panels: + - Class: rviz/Displays + Help Height: 75 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Ego trajectory1 + Splitter Ratio: 0.6000000238418579 + Tree Height: 366 + - 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 + - /ThirdPersonFollower1 + - /ThirdPersonFollower2 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: rviz/Displays + Help Height: 75 + Name: Displays + Property Tree Widget: + Expanded: + - /EgoOdometry1/Shape1 + - /Origin1 + Splitter Ratio: 0.44411763548851013 + Tree Height: 481 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - 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: EgoOdometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 1 + Head Radius: 1 + Shaft Length: 3 + Shaft Radius: 1 + Value: Arrow + Topic: /carla/hero/odometry + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /hero/carla/viz/des_waypoints + Name: Ego trajectory + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /hero/carla/viz/ego_track + Name: Ego Track + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Global Path + 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: /hero/global_plan + Unreliable: false + Value: true + - Class: rviz/Axes + Enabled: true + Length: 10 + Name: Origin + Radius: 0.5 + Reference Frame: map + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /hero/carla/viz/road_topo + Name: Road Topology + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/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: map + Value: true + Enabled: true + Global Options: + Background Color: 80; 80; 80 + Default Light: true + Fixed Frame: map + 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/ThirdPersonFollower + Distance: 68.55451965332031 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6602022647857666 + Target Frame: hero + Value: ThirdPersonFollower (rviz) + Yaw: 4.739986896514893 + Saved: + - Class: rviz/ThirdPersonFollower + Distance: 200 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: hero + Value: ThirdPersonFollower (rviz) + Yaw: 3.140000104904175 + - Class: rviz/ThirdPersonFollower + Distance: 50 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5 + Target Frame: hero + Value: ThirdPersonFollower (rviz) + Yaw: 3.140000104904175 +Window Geometry: + Displays: + collapsed: false + Height: 808 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001ab00000259fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000000d7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d000000e80000000000000000fb0000000a0049006d006100670065010000003d000002590000000000000000fb0000000a0049006d00610067006501000001680000012e0000000000000000fb0000000a0049006d00610067006501000002b800000131000000000000000000000001000001fb00000286fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003d00000286000000e60100001cfa000000000100000002fb000000100044006900730070006c0061007900730100000000ffffffff0000015600fffffffb0000000a00560069006500770073010000063a0000010f0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054b00000042fc0100000002fb0000000800540069006d006501000000000000054b000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000034a0000028600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1355 + X: 204 + Y: 27