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chore(rviz_config): add localization debug config #544

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merged 2 commits into from
Aug 31, 2023
Merged

chore(rviz_config): add localization debug config #544

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e4b725a
chore(rviz_config): add localization debug config
kminoda Aug 31, 2023
d0e12d9
Merge branch 'main' into chore/rviz_config/localization_debug_config
kminoda Aug 31, 2023
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104 changes: 103 additions & 1 deletion autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -2429,9 +2429,111 @@ Visualization Manager:
Enabled: true
Name: Sensing
- Class: rviz_common/Group
Displays: ~
Enabled: true
Name: Localization
Displays:
- Alpha: 0.9990000128746033
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: 85; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 85; 255; 127
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: NDT pointclouds
Position Transformer: XYZ
Selectable: false
Size (Pixels): 10
Size (m): 0.5
Style: Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/points_aligned
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; 255
Color Transformer: ""
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: NDTLoadedPCDMap
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.1
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/debug/loaded_pointcloud_map
Use Fixed Frame: true
Use rainbow: true
Value: true
- Buffer Size: 200
Class: rviz_plugins::PoseHistory
Enabled: true
Line:
Alpha: 0.9990000128746033
Color: 170; 255; 127
Value: true
Width: 0.10000000149011612
Name: NDTPoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose
Value: true
- Buffer Size: 1000
Class: rviz_plugins::PoseHistory
Enabled: true
Line:
Alpha: 0.9990000128746033
Color: 0; 255; 255
Value: true
Width: 0.10000000149011612
Name: EKFPoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_twist_fusion_filter/pose
Value: true
- Class: rviz_common/Group
Displays: ~
Enabled: true
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