Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /mapping1 - /mapping1/surround1 - /mapping1/currPoints1/Autocompute Value Bounds1 - /Odometry1 - /Odometry1/Odometry1 - /Odometry1/Odometry1/Shape1 - /Odometry1/Odometry1/Covariance1 - /Odometry1/Odometry1/Covariance1/Position1 - /Odometry1/Odometry1/Covariance1/Orientation1 - /kdtreeMap1 - /Path_isam_update1 - /loop_clousre1/Namespaces1 Splitter Ratio: 0.6432291865348816 Tree Height: 690 - 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 Name: Time SyncMode: 0 SyncSource: kdtreeMap Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 1 Cell Size: 1000 Class: rviz/Grid Color: 160; 160; 164 Enabled: false 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: 40 Reference Frame: Value: false - Alpha: 1 Class: rviz/Axes Enabled: false Length: 0.699999988079071 Name: Axes Radius: 0.05999999865889549 Reference Frame: Show Trail: false Value: false - Class: rviz/Group Displays: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 238; 238; 236 Name: surround Position Transformer: XYZ Queue Size: 1 Selectable: false Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Points Topic: /cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.5 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 Min Value: -5 Value: false Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 115; 210; 22 Color Transformer: Intensity Decay Time: 1000 Enabled: false Invert Rainbow: true Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: currPoints Position Transformer: XYZ Queue Size: 100000 Selectable: true Size (Pixels): 1 Size (m): 0.009999999776482582 Style: Points Topic: /cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: mapping - Class: rviz/Group Displays: - Angle Tolerance: 0.009999999776482582 Class: rviz/Odometry Covariance: Orientation: Alpha: 0.5 Color: 255; 255; 127 Color Style: Unique Frame: Local Offset: 1 Scale: 1 Value: false Position: Alpha: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: false Enabled: true Keep: 1 Name: Odometry Position Tolerance: 0.0010000000474974513 Queue Size: 10 Shape: Alpha: 1 Axes Length: 3 Axes Radius: 0.30000001192092896 Color: 255; 85; 0 Head Length: 0 Head Radius: 0 Shaft Length: 0.05000000074505806 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /Odometry Unreliable: false Value: true Enabled: true Name: Odometry - Alpha: 0.5 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 1e+07 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: kdtreeMap Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 1 Size (m): 0.009999999776482582 Style: Points Topic: /Laser_map Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Class: rviz/Axes Enabled: true Length: 0.699999988079071 Name: Axes Radius: 0.10000000149011612 Reference Frame: Show Trail: false Value: true - Alpha: 0 Buffer Length: 2 Class: rviz/Path Color: 78; 90; 255 Enabled: true Head Diameter: 0 Head Length: 0 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.05000000074505806 Name: Path_no_optimized Offset: X: 0 Y: 0 Z: 0 Pose Color: 25; 255; 255 Pose Style: None Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.4000000059604645 Shaft Length: 0.4000000059604645 Topic: /path Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 255; 255 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.05000000074505806 Name: Path_isam_update Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /fast_lio_sam/path_update Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 252; 233; 79 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 239; 41; 41 Max Intensity: 0 Min Color: 239; 41; 41 Min Intensity: 0 Name: keyFrameSubmap Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 4 Size (m): 0.30000001192092896 Style: Points Topic: /fast_lio_sam/mapping/keyframe_submap Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 1000 Enabled: true Invert Rainbow: true Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: OptimizedGLobalmap Position Transformer: XYZ Queue Size: 10000 Selectable: true Size (Pixels): 1 Size (m): 0.10000000149011612 Style: Points Topic: /fast_lio_sam/mapping/map_global_optimized Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /fast_lio_sam/mapping/loop_closure_constraints Name: loop_clousre Namespaces: {} Queue Size: 100 Value: true Enabled: true Global Options: Background Color: 0; 0; 0 Default Light: true Fixed Frame: camera_init Frame Rate: 10 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: 808.0084228515625 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Field of View: 0.7853981852531433 Focal Point: X: 171.46237182617188 Y: 100.80445861816406 Z: -39.36630630493164 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 1.5697963237762451 Target Frame: global Yaw: 6.265603065490723 Saved: ~ Window Geometry: Displays: collapsed: false Height: 929 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd00000004000000000000018b000002effc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000020c00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054f00000052fc0100000002fb0000000800540069006d006501000000000000054f000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003be000002ef00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1359 X: -36 Y: 46