Work on DAEP

rviz/mat1.rviz

@@ -6,27 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Grid1
         - /Grid1/Offset1
-        - /Birdeye1
-        - /PointStamped1
-        - /PointStamped2
-        - /TF1
         - /TF1/Frames1
-        - /PointStamped3
-        - /Marker1
-        - /Marker1/Namespaces1
-        - /PointStamped4
-        - /Map1
-        - /Map1/Update Topic1
-        - /RobotModel1
-        - /RobotModel1/Description Topic1
-        - /RobotModel2
-        - /RobotModel2/Description Topic1
-        - /Birdeye2
-        - /Birdeye2/Topic1
-        - /OccupancyGrid1
-        - /PointCloud21
       Splitter Ratio: 0.5
     Tree Height: 860
   - Class: rviz_common/Selection
@@ -46,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: PointCloud2
 Visualization Manager:
   Class: ""
   Displays:
@@ -78,205 +59,30 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /birdeye
       Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/PointStamped
-      Color: 204; 41; 204
-      Enabled: true
-      History Length: 1
-      Name: PointStamped
-      Radius: 2
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /people0
-      Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/PointStamped
-      Color: 246; 211; 45
-      Enabled: true
-      History Length: 1
-      Name: PointStamped
-      Radius: 2
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /people1
-      Value: true
     - Class: rviz_default_plugins/TF
       Enabled: true
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        dji1/body:
+        os_imu:
+          Value: true
+        os_lidar:
+          Value: true
+        os_sensor:
           Value: true
-        dji1/body_hor:
-          Value: false
-        dji1/camera0/camera_frame:
-          Value: false
-        dji1/camera0/image_frame:
-          Value: false
-        world:
-          Value: false
       Marker Scale: 10
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: false
       Tree:
-        world:
-          dji1/body:
+        os_sensor:
+          os_imu:
+            {}
+          os_lidar:
             {}
-          dji1/body_hor:
-            dji1/camera0/camera_frame:
-              dji1/camera0/image_frame:
-                {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/PointStamped
-      Color: 28; 113; 216
-      Enabled: true
-      History Length: 1
-      Name: PointStamped
-      Radius: 0.20000000298023224
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /people2
-      Value: true
-    - Class: rviz_default_plugins/Marker
-      Enabled: true
-      Name: Marker
-      Namespaces:
-        {}
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /areas
-      Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/PointStamped
-      Color: 152; 106; 68
-      Enabled: true
-      History Length: 1
-      Name: PointStamped
-      Radius: 0.20000000298023224
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /people3
-      Value: true
-    - Alpha: 0.699999988079071
-      Class: rviz_default_plugins/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /map
-      Update Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Best Effort
-        Value: /map_updates
-      Use Timestamp: false
-      Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /standard_dock_description
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Mass Properties:
-        Inertia: false
-        Mass: false
-      Name: RobotModel
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /robot_description
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Mass Properties:
-        Inertia: false
-        Mass: false
-      Name: RobotModel
-      TF Prefix: ""
       Update Interval: 0
       Value: true
-      Visual Enabled: true
-    - Class: rviz_default_plugins/Marker
-      Enabled: true
-      Name: Marker
-      Namespaces:
-        {}
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /areas
-      Value: true
-    - Class: rviz_birdeye_display/Birdeye
-      Enabled: true
-      Name: Birdeye
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /birdeye
-      Value: true
     - Class: octomap_rviz_plugins/OccupancyGrid
       Enabled: true
       Max. Height Display: 3.4028234663852886e+38
@@ -309,9 +115,9 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 0
+      Max Intensity: 4770
       Min Color: 0; 0; 0
-      Min Intensity: 0
+      Min Intensity: 1
       Name: PointCloud2
       Position Transformer: XYZ
       Selectable: true
@@ -324,7 +130,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /dji1/laser0/scan/points
+        Value: /ouster/points
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -374,25 +180,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 35.57646179199219
+      Distance: 202.84048461914062
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 56.40272903442383
-        Y: 26.02482795715332
-        Z: 12.87140941619873
+        X: 58.444007873535156
+        Y: 19.620548248291016
+        Z: 11.490209579467773
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.759796679019928
+      Pitch: 0.33979687094688416
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.5485777854919434
+      Yaw: 3.578578233718872
     Saved: ~
 Window Geometry:
   Displays: