use new inflation_layer in layered costmap2d

[ros_roboint.git] / config / explorer.rviz

diff --git a/config/explorer.rviz b/config/explorer.rviz
index e413e5f9ad6aa7a3e9de764353fdb758d1ec11e9..622857872497fa8b8bb01761fd94713be2c373a1 100644 (file)
--- a/config/explorer.rviz
+++ b/config/explorer.rviz
@@ -5,7 +5,6 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
-        - /Map1/Status1
         - /Map1/Orientation1
       Splitter Ratio: 0.618123
     Tree Height: 656
@@ -27,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
   - Class: rviz/Tool Properties
     Expanded: ~
     Name: Tool Properties
@@ -57,35 +56,6 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 0
-        Min Value: 0
-        Value: true
-      Axis: Z
-      Channel Name: x
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4.20249
-      Min Color: 255; 255; 255
-      Min Intensity: 3.74045
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 16
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Flat Squares
-      Topic: /scan
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
     - Alpha: 1
       Class: rviz/Polygon
       Color: 25; 255; 0
@@ -98,7 +68,13 @@ Visualization Manager:
       Class: rviz/Path
       Color: 25; 255; 0
       Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
       Name: Global Plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
       Topic: /move_base/TrajectoryPlannerROS/global_plan
       Value: true
     - Alpha: 1
@@ -106,7 +82,13 @@ Visualization Manager:
       Class: rviz/Path
       Color: 0; 25; 255
       Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
       Name: Local Plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
       Topic: /move_base/TrajectoryPlannerROS/local_plan
       Value: true
     - Alpha: 1
@@ -114,7 +96,13 @@ Visualization Manager:
       Class: rviz/Path
       Color: 25; 255; 0
       Enabled: true
+      Line Style: Lines
+      Line Width: 0.03
       Name: Planner Plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
       Topic: /move_base/NavfnROS/plan
       Value: true
     - Alpha: 1
@@ -195,11 +183,11 @@ Visualization Manager:
       Buffer Length: 1
       Class: rviz/Range
       Color: 255; 255; 255
-      Enabled: false
+      Enabled: true
       Name: Range
       Queue Size: 100
-      Topic: /sonar_forward_lower
-      Value: false
+      Topic: /sonar
+      Value: true
     - Alpha: 0.7
       Class: rviz/Map
       Color Scheme: costmap
@@ -212,10 +200,10 @@ Visualization Manager:
       Class: rviz/Map
       Color Scheme: map
       Draw Behind: false
-      Enabled: true
+      Enabled: false
       Name: Map
       Topic: /map
-      Value: true
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -240,22 +228,22 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.63988
+      Distance: 4.16269
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 3.49739
-        Y: 1.95458
-        Z: 0.198305
+        X: 5.27226
+        Y: 3.90177
+        Z: 0.615206
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 1.5598
+      Pitch: 1.4798
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.71126
+      Yaw: 3.02126
     Saved: ~
 Window Geometry:
   Displays: