allowing rviz to visualize laser scans again with rolling binaries (r…

…os-navigation#2745)
savalena · Dec 16, 2021 · 75876b7 · 75876b7
1 parent 279752a
commit 75876b7
Showing 1 changed file with 30 additions and 1 deletion.
diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -62,6 +62,9 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: ""
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -156,10 +159,11 @@ Visualization Manager:
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
-      Style: Flat Squares
+      Style: Points
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Best Effort
         Value: /scan
@@ -193,6 +197,7 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Best Effort
         Value: /mobile_base/sensors/bumper_pointcloud
@@ -253,9 +258,16 @@ Visualization Manager:
           Topic:
             Depth: 1
             Durability Policy: Transient Local
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /downsampled_costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /downsampled_costmap_updates
           Use Timestamp: false
           Value: true
         - Alpha: 1
@@ -281,6 +293,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /plan
@@ -312,6 +325,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /global_costmap/voxel_marked_cloud
@@ -326,6 +340,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /global_costmap/published_footprint
@@ -343,9 +358,16 @@ Visualization Manager:
           Topic:
             Depth: 1
             Durability Policy: Transient Local
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /local_costmap/costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/costmap_updates
           Use Timestamp: false
           Value: true
         - Alpha: 1
@@ -371,6 +393,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /local_plan
@@ -395,6 +418,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /local_costmap/published_footprint
@@ -426,6 +450,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /local_costmap/voxel_marked_cloud
@@ -477,6 +502,7 @@ Visualization Manager:
           Topic:
             Depth: 5
             Durability Policy: Volatile
+            Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /intel_realsense_r200_depth/points
@@ -510,6 +536,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile