From 5a0d65c0124734887b5b871f675ff9c5733b7ae1 Mon Sep 17 00:00:00 2001 From: Felix Strobel Date: Fri, 13 Mar 2020 12:03:32 +0100 Subject: [PATCH] add launch file to start ros node with rviz As developer I want an easy way to see the image data in rviz. New files: - launch/optris_dirvers_rviz.launch - rviz/optris_dirvers.rviz --- launch/optris_drivers_rviz.launch | 7 ++ rviz/optris_drivers.rviz | 203 ++++++++++++++++++++++++++++++ 2 files changed, 210 insertions(+) create mode 100644 launch/optris_drivers_rviz.launch create mode 100644 rviz/optris_drivers.rviz diff --git a/launch/optris_drivers_rviz.launch b/launch/optris_drivers_rviz.launch new file mode 100644 index 0000000..cbff11f --- /dev/null +++ b/launch/optris_drivers_rviz.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/rviz/optris_drivers.rviz b/rviz/optris_drivers.rviz new file mode 100644 index 0000000..e20b7a1 --- /dev/null +++ b/rviz/optris_drivers.rviz @@ -0,0 +1,203 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 482 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Mono +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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/Image + Enabled: true + Image Topic: /optris/image_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Mono + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /optris/image_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Color + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /optris/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Mono Rect + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /optris/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Color Rect + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /optris/visible_image_view + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Visible Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /optris/visible_image_view + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Thermal Image View + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + 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 + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/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: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6853981018066406 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.7903980016708374 + Saved: ~ +Window Geometry: + Color: + collapsed: false + Color Rect: + collapsed: false + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + Mono: + collapsed: false + Mono Rect: + collapsed: false + QMainWindow State: 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 + Selection: + collapsed: false + Thermal Image View: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Visible Image: + collapsed: false + Width: 1853 + X: 67 + Y: 27