Panels: - Class: rviz_common/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.4882352948188782 Tree Height: 272 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz_default_plugins/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: 10 Reference Frame: Value: true - Class: rviz_default_plugins/TF Enabled: true Frame Timeout: 120 Frames: All Enabled: true cam0: Value: true global: Value: true imu: Value: true truth: Value: true Marker Scale: 1 Name: TF Show Arrows: false Show Axes: true Show Names: true Tree: global: imu: cam0: {} truth: {} Update Interval: 0 Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 1 Median window: 5 Min Value: 0 Name: Image Tracks Normalize Range: true Queue Size: 10 Topic: /ov_msckf/trackhist Unreliable: false Value: true - Class: rviz_default_plugins/Image Enabled: false Max Value: 1 Median window: 5 Min Value: 0 Name: Current Depths Normalize Range: true Queue Size: 10 Topic: /ov_msckf/loop_depth_colored Unreliable: false Value: false - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.009999999776482582 Name: Path VIO 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: /ov_msckf/pathimu Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path Color: 0; 255; 255 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.009999999776482582 Name: Path GT 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: /ov_msckf/pathgt Unreliable: false Value: true - Alpha: 0.800000011920929 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: 252; 175; 62 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: MSCKF Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 8 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_msckf 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_default_plugins/PointCloud2 Color: 255; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: SLAM Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 8 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_slam 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_default_plugins/PointCloud2 Color: 117; 80; 123 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: ARUCO Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 15 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_aruco 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_default_plugins/PointCloud Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: ACTIVE Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/loop_feats 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_default_plugins/PointCloud2 Color: 255; 255; 127 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: SIM Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_sim Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Fixed Frame: global Frame Rate: 60 Name: root Tools: - Class: rviz_default_plugins/MoveCamera - Class: rviz_default_plugins/Select - Class: rviz_default_plugins/FocusCamera - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose Topic: /initialpose - Class: rviz_default_plugins/SetGoal Topic: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true Topic: /clicked_point Transformation: Current: Class: rviz_default_plugins/TF Value: true Views: Current: Class: rviz_default_plugins/Orbit Distance: 10 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 0 Y: 0 Z: 0 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.9453980326652527 Target Frame: Value: Orbit (rviz) Yaw: 0.7853981852531433 Saved: ~ Window Geometry: Current Depths: collapsed: false Displays: collapsed: false Height: 690 Hide Left Dock: false Hide Right Dock: true Image Tracks: collapsed: false QMainWindow State: 000000ff00000000fd00000004000000000000016a00000258fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000180049006d00610067006500200054007200610063006b00730100000190000001050000002800fffffffb0000000a0049006d00610067006501000001c60000011c0000000000000000fb0000001c00430075007200720065006e0074002000440065007000740068007300000001eb000000b50000002800ffffff000000010000010f00000218fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000218000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000039b0000025800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1291 X: 2051 Y: 110