Merge pull request #26 from LCAS/rviz_amcl

added AMCL cloud visualisation to the navigation package
LCAS · Nov 12, 2024 · f69b24b · f69b24b
2 parents ddbdf64 + b7ed7a0
commit f69b24b
Showing 1 changed file with 24 additions and 6 deletions.
diff --git a/src/limo_navigation/rviz/limo_navigation.rviz b/src/limo_navigation/rviz/limo_navigation.rviz
@@ -8,8 +8,10 @@ Panels:
         - /Status1
         - /Map1/Topic1
         - /LaserScan1/Topic1
+        - /AMCL cloud1/Status1
+        - /AMCL cloud1/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 1112
+    Tree Height: 621
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -243,6 +245,22 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 1
+      Class: nav2_rviz_plugins/ParticleCloud
+      Color: 0; 0; 255
+      Enabled: false
+      Max Arrow Length: 0.30000001192092896
+      Min Arrow Length: 0.019999999552965164
+      Name: AMCL cloud
+      Shape: Arrow (Flat)
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep All
+        Reliability Policy: Best Effort
+        Value: /particle_cloud
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -312,10 +330,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1403
+  Height: 912
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000004e1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004e1000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000233000000bc0000000000000000000000010000010f000004e1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000004e1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000078f000004e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000233000000bc0000000000000000000000010000010f000002f6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002f6000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004c9000002f600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -324,6 +342,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 2560
-  X: 0
-  Y: 0
+  Width: 1850
+  X: 70
+  Y: 27