Panels: - Class: rviz/Displays Help Height: 191 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /links1/TF1 - /links1/TF1/Frames1 - /links1/map1 - /Odometry1 - /Point Cloud1 - /Point Cloud1/Velodyne1 - /Feature Cloud1 - /Mapping1/Map (local)1 Splitter Ratio: 0.5600000023841858 Tree Height: 250 - Class: rviz/Selection Name: Selection - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Tool Properties Expanded: ~ Name: Tool Properties Splitter Ratio: 0.5 Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Class: rviz/Group Displays: - Class: rviz/TF Enabled: true Frame Timeout: 999 Frames: All Enabled: false base_footprint: Value: true base_link: Value: true chassis_link: Value: true imu_link: Value: true map: Value: true navsat_link: Value: true odom: Value: true rslidar: Value: true Marker Scale: 3 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: map: odom: base_footprint: {} base_link: chassis_link: imu_link: {} navsat_link: {} rslidar: {} Update Interval: 0 Value: true - Class: rviz/Axes Enabled: true Length: 0.10000000149011612 Name: map Radius: 0.05000000074505806 Reference Frame: map Value: true - Class: rviz/Axes Enabled: false Length: 1 Name: base_link Radius: 0.30000001192092896 Reference Frame: base_link Value: false Enabled: true Name: links - Class: rviz/Group 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: false Enabled: true Keep: 300 Name: Odom IMU Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 0.5 Axes Radius: 0.10000000149011612 Color: 255; 25; 0 Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /odometry/imu 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: false Enabled: true Keep: 300 Name: Odom GPS Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.30000001192092896 Color: 255; 25; 0 Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /odometry/gps 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: false Enabled: false Keep: 300 Name: Odom lidar Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 0.25 Axes Radius: 0.10000000149011612 Color: 255; 25; 0 Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /lio_sam/mapping/odometry Unreliable: false Value: false 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: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 Name: Velodyne Position Transformer: XYZ Queue Size: 10 Selectable: false Size (Pixels): 2 Size (m): 0.009999999776482582 Style: Points Topic: /lio_sam/deskew/cloud_deskewed 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: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0.7900000214576721 Min Color: 0; 0; 0 Min Intensity: 0 Name: Reg Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /lio_sam/mapping/cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: Point Cloud - 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: 0; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15.077729225158691 Min Color: 0; 0; 0 Min Intensity: 0.019985778257250786 Name: Edge Feature Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 Size (m): 0.009999999776482582 Style: Points Topic: /lio_sam/feature/cloud_corner 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; 85; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15.100607872009277 Min Color: 0; 0; 0 Min Intensity: 0.0007188677554950118 Name: Plannar Feature Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /lio_sam/feature/cloud_surface Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true Enabled: false Name: Feature Cloud - Class: rviz/Group Displays: - Alpha: 0.30000001192092896 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 7.4858574867248535 Min Value: -1.2309398651123047 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 300 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 Name: Map (cloud) Position Transformer: XYZ Queue Size: 10 Selectable: false Size (Pixels): 2 Size (m): 0.009999999776482582 Style: Points Topic: /lio_sam/mapping/cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 1.8862897157669067 Min Value: -3.8047313690185547 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15.100604057312012 Min Color: 0; 0; 0 Min Intensity: 0.014545874670147896 Name: Map (local) Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 Size (m): 0.10000000149011612 Style: Flat Squares Topic: /lio_sam/mapping/cloud_registered_raw Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - 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: 15.100096702575684 Min Color: 0; 0; 0 Min Intensity: 0.007923072203993797 Name: Map (global) Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 Size (m): 0.009999999776482582 Style: Points Topic: /lio_sam/mapping/map_global Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 85; 255; 255 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.10000000149011612 Name: Path (global) 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: /lio_sam/mapping/path Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 85; 255 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.10000000149011612 Name: Path (local) 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: /lio_sam/imu/path Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 20.802837371826172 Min Value: -0.03934507071971893 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 15.100604057312012 Min Color: 0; 0; 0 Min Intensity: 0.014545874670147896 Name: Loop closure Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 Size (m): 0.30000001192092896 Style: Flat Squares Topic: /lio_sam/mapping/icp_loop_closure_corrected_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Class: rviz/MarkerArray Enabled: true Marker Topic: /lio_sam/mapping/loop_closure_constraints Name: Loop constraint Namespaces: {} Queue Size: 100 Value: true Enabled: true Name: Mapping - Alpha: 0.5 Cell Size: 5 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: 100 Reference Frame: Value: true - Class: rviz/TF Enabled: false Frame Timeout: 15 Frames: All Enabled: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: {} Update Interval: 0 Value: false - 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: 166 Min Color: 0; 0; 0 Min Intensity: 1 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares Topic: /rslidar_points Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Class: rviz_plugin_tutorials/Imu Color: 204; 51; 204 Enabled: false History Length: 1 Name: Imu Topic: /imu_data Unreliable: false Value: false Enabled: true Global Options: Background Color: 0; 0; 0 Default Light: true Fixed Frame: map Frame Rate: 30 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/FocusCamera - Class: rviz/Measure Value: true Views: Current: Class: rviz/XYOrbit Distance: 17.998422622680664 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 1.7836589813232422 Y: -1.2112236022949219 Z: 9.9528806458693e-6 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.13039879500865936 Target Frame: base_link Value: XYOrbit (rviz) Yaw: 2.8935792446136475 Saved: ~ Window Geometry: Displays: collapsed: true Height: 1016 Hide Left Dock: true Hide Right Dock: true QMainWindow State: 000000ff00000000fd000000040000000000000346000003bafc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000002e000001340000000000000000fb000000100044006900730070006c006100790073000000003d000003ba000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000286000000a70000005c00ffffff0000000100000111000003bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003ba000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000040fc0100000002fb0000000800540069006d00650000000000000004b00000000000000000fb0000000800540069006d00650100000000000004500000000000000000000007800000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1920 X: 0 Y: 0