gctronic · kay880 · Nov 6, 2018 · Apr 15, 2019 · Nov 21, 2019 · May 24, 2022
diff --git a/config/minimal_epuck2.rviz b/config/minimal_epuck2.rviz
@@ -0,0 +1,361 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /RobotModel1/Status1
+        - /Odometry1/Covariance1/Position1
+        - /Odometry1/Covariance1/Orientation1
+        - /Imu1/Status1
+      Splitter Ratio: 0.639118016
+    Tree Height: 336
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+  - Class: rviz_plugin_tutorials/Teleop
+    Name: Teleop
+    Topic: mobile_base/cmd_vel
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.0500000007
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 20
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox0
+      Queue Size: 100
+      Topic: /proximity0
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox1
+      Queue Size: 100
+      Topic: /proximity1
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox2
+      Queue Size: 100
+      Topic: /proximity2
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox3
+      Queue Size: 100
+      Topic: /proximity3
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox4
+      Queue Size: 100
+      Topic: /proximity4
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox5
+      Queue Size: 100
+      Topic: /proximity5
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox6
+      Queue Size: 100
+      Topic: /proximity6
+      Unreliable: false
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Prox7
+      Queue Size: 100
+      Topic: /proximity7
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      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
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        body_top:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: epuck_robot_0
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Angle Tolerance: 0.0500000007
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.300000012
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.100000001
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.100000001
+        Color: 255; 25; 0
+        Head Length: 0.00499999989
+        Head Radius: 0.00200000009
+        Shaft Length: 0.00700000022
+        Shaft Radius: 0.00100000005
+        Value: Arrow
+      Topic: /odom
+      Unreliable: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /floor
+      Name: Floor
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /motor_speed
+      Name: Speed
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /microphone
+      Name: Microphone
+      Namespaces:
+        "": true
+      Queue Size: 1
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensities
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: FlatColor
+      Decay Time: 1
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 72
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: false
+      Size (Pixels): 3
+      Size (m): 0.00499999989
+      Style: Spheres
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Acceleration properties:
+        Acc. vector alpha: 1
+        Acc. vector color: 255; 0; 0
+        Acc. vector scale: 1
+        Derotate acceleration: true
+        Enable acceleration: false
+      Axes properties:
+        Axes scale: 1
+        Enable axes: true
+      Box properties:
+        Box alpha: 1
+        Box color: 255; 0; 0
+        Enable box: false
+        x_scale: 1
+        y_scale: 1
+        z_scale: 1
+      Class: rviz_imu_plugin/Imu
+      Enabled: true
+      Name: Imu
+      Topic: /imu
+      Unreliable: false
+      Value: true
+      fixed_frame_orientation: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 0.418160737
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.655981719
+        Y: 0.0647886693
+        Z: -1.78813934e-07
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.525203586
+      Target Frame: base_link
+      Value: XYOrbit (rviz)
+      Yaw: 1.20539534
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 772
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000017d0000027afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001df000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f0070010000020d000000950000004900ffffff00000001000001590000027afc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000027a000000ad00fffffffb0000000a0049006d006100670065010000015b000001470000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003efc0100000002fb0000000800540069006d00650100000000000005ff0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000031d0000027a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Teleop:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1535
+  X: 75
+  Y: 34