Debug

rviz/mat1.rviz

@@ -6,8 +6,13 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /Grid1
         - /Grid1/Offset1
+        - /TF1
         - /TF1/Frames1
+        - /OccupancyGrid1
+        - /OccupancyGrid1/Status1
+        - /Marker1
       Splitter Ratio: 0.5
     Tree Height: 860
   - Class: rviz_common/Selection
@@ -27,7 +32,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -64,23 +69,36 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        os_imu:
+        dji1/body:
           Value: true
+        dji1/body_hor:
+          Value: false
+        dji1/camera0/camera_frame:
+          Value: false
+        dji1/camera0/image_frame:
+          Value: false
+        os_imu:
+          Value: false
         os_lidar:
           Value: true
         os_sensor:
-          Value: true
+          Value: false
+        world:
+          Value: false
       Marker Scale: 10
       Name: TF
       Show Arrows: true
       Show Axes: true
-      Show Names: false
+      Show Names: true
       Tree:
-        os_sensor:
-          os_imu:
-            {}
-          os_lidar:
-            {}
+        world:
+          dji1/body:
+            os_lidar:
+              {}
+          dji1/body_hor:
+            dji1/camera0/camera_frame:
+              dji1/camera0/image_frame:
+                {}
       Update Interval: 0
       Value: true
     - Class: octomap_rviz_plugins/OccupancyGrid
@@ -99,40 +117,46 @@ Visualization Manager:
       Value: true
       Voxel Alpha: 1
       Voxel Coloring: Z-Axis
-      Voxel Rendering: Occupied Voxels
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
+      Voxel Rendering: Free Voxels
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /dji1/daep_marker_array_visualization
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /dji1/daep_marker_visualization
+      Value: true
+    - Class: rviz_default_plugins/Marker
       Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4770
-      Min Color: 0; 0; 0
-      Min Intensity: 1
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.20000000298023224
-      Style: Flat Squares
+      Name: Marker
+      Namespaces:
+        frustum: true
+        robot_bounds: true
+        robot_path: true
+        world_bounds: true
       Topic:
         Depth: 5
         Durability Policy: Volatile
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /ouster/points
-      Use Fixed Frame: true
-      Use rainbow: true
+        Value: /dji1/bounds_visualization
       Value: true
   Enabled: true
   Global Options:
@@ -180,25 +204,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 202.84048461914062
+      Distance: 55.47395706176758
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 58.444007873535156
-        Y: 19.620548248291016
-        Z: 11.490209579467773
+        X: 26.966466903686523
+        Y: 6.742760181427002
+        Z: 7.02536153793335
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.33979687094688416
+      Pitch: 0.8147963881492615
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.578578233718872
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 5.404238224029541
     Saved: ~
 Window Geometry:
   Displays:
@@ -216,5 +240,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 2560
-  X: 815
-  Y: 502
+  X: 1227
+  Y: 498