From 40b4ed7347f97ffccce01d816ed55114a6408c2a Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Thu, 15 May 2025 09:46:07 +0200
Subject: [PATCH] Zenoh and M300
---
rviz/mat5.rviz | 232 ++++---------------------------------------------
rviz/mat6.rviz | 232 ++++---------------------------------------------
2 files changed, 38 insertions(+), 426 deletions(-)
diff --git a/rviz/mat5.rviz b/rviz/mat5.rviz
index f19b5c0..fe1957e 100644
--- a/rviz/mat5.rviz
+++ b/rviz/mat5.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:
diff --git a/rviz/mat6.rviz b/rviz/mat6.rviz
index f19b5c0..fe1957e 100644
--- a/rviz/mat6.rviz
+++ b/rviz/mat6.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:
--
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