lio-sam/launch/include/config/rviz.rviz

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: <Fixed 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