Change rviz config

grp_astro/config/reel.rviz

@@ -6,9 +6,10 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /LaserScan1
+        - /TF1
+        - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 475
+    Tree Height: 714
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -26,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -48,58 +49,111 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: rviz_default_plugins/Image
+    - Class: rviz_default_plugins/Marker
       Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
+      Name: Marker
+      Namespaces:
+        {}
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /rgb_detection
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
+        Value: /bottle_marker
       Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
+    - Alpha: 0.699999988079071
+      Binary representation: false
+      Binary threshold: 100
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
       Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
+      Name: Map
       Topic:
         Depth: 5
         Durability Policy: Volatile
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /scan
-      Use Fixed Frame: true
-      Use rainbow: true
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: false
+        base_link:
+          Value: true
+        camera_link:
+          Value: false
+        caster_back_link:
+          Value: false
+        caster_front_link:
+          Value: false
+        cliff_sensor_front_link:
+          Value: false
+        cliff_sensor_left_link:
+          Value: false
+        cliff_sensor_right_link:
+          Value: false
+        imu_link:
+          Value: false
+        laser_link:
+          Value: false
+        left_wheel:
+          Value: false
+        map:
+          Value: false
+        odom:
+          Value: false
+        right_wheel:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                camera_link:
+                  {}
+                caster_back_link:
+                  {}
+                caster_front_link:
+                  {}
+                cliff_sensor_front_link:
+                  {}
+                cliff_sensor_left_link:
+                  {}
+                cliff_sensor_right_link:
+                  {}
+                imu_link:
+                  {}
+                laser_link:
+                  {}
+                left_wheel:
+                  {}
+                right_wheel:
+                  {}
+      Update Interval: 0
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: base_link
+    Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:
@@ -151,7 +205,7 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 66.82218933105469
+      Scale: 71.31871795654297
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
       X: 0
@@ -163,9 +217,7 @@ Window Geometry:
   Height: 1011
   Hide Left Dock: false
   Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000355fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000266000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000231000000bc0000000000000000fb0000000a0049006d00610067006501000002a9000000e90000002800ffffff000000010000010f00000355fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000355000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000027900fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000355fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000355000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000355fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000355000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000027900fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: