From 1e30d097b2564897f43f61d5781a62f7d45297eb Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 19 Jul 2023 21:03:32 +0900 Subject: [PATCH] add sample/config/realsense-torso-jetson-box.rviz --- .../config/realsense-torso-jetson-box.rviz | 599 ++++++++++++++++++ 1 file changed, 599 insertions(+) create mode 100644 jsk_perception/sample/config/realsense-torso-jetson-box.rviz diff --git a/jsk_perception/sample/config/realsense-torso-jetson-box.rviz b/jsk_perception/sample/config/realsense-torso-jetson-box.rviz new file mode 100644 index 0000000000..49d97a5112 --- /dev/null +++ b/jsk_perception/sample/config/realsense-torso-jetson-box.rviz @@ -0,0 +1,599 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Status1 + - /TF1/Frames1 + - /TF1/Tree1 + - /DepthCloud1/Auto Size1 + Splitter Ratio: 0.3970276117324829 + Tree Height: 383 + - 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 + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + 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: 10 + Reference Frame: + Value: false + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + collision_head_link_1: + Value: true + collision_head_link_2: + Value: true + display: + Value: true + dummyhead1: + Value: true + head: + Value: true + head_camera: + Value: true + jetson_box: + Value: true + left_arm_itb: + Value: true + left_arm_mount: + Value: true + left_gripper: + Value: true + left_gripper_base: + Value: true + left_hand: + Value: true + left_hand_accelerometer: + Value: true + left_hand_camera: + Value: true + left_hand_camera_axis: + Value: true + left_hand_range: + Value: true + left_lower_elbow: + Value: true + left_lower_forearm: + Value: true + left_lower_shoulder: + Value: true + left_torso_itb: + Value: true + left_upper_elbow: + Value: true + left_upper_elbow_visual: + Value: true + left_upper_forearm: + Value: true + left_upper_forearm_visual: + Value: true + left_upper_shoulder: + Value: true + left_wrist: + Value: true + pedestal: + Value: true + realsense_torso_color_optical_frame: + Value: true + reference/base: + Value: true + reference/collision_head_link_1: + Value: true + reference/collision_head_link_2: + Value: true + reference/display: + Value: true + reference/dummyhead1: + Value: true + reference/head: + Value: true + reference/head_camera: + Value: true + reference/left_arm_itb: + Value: true + reference/left_arm_mount: + Value: true + reference/left_gripper: + Value: true + reference/left_gripper_base: + Value: true + reference/left_gripper_mass: + Value: true + reference/left_gripper_object_mass: + Value: true + reference/left_hand: + Value: true + reference/left_hand_accelerometer: + Value: true + reference/left_hand_camera: + Value: true + reference/left_hand_camera_axis: + Value: true + reference/left_hand_range: + Value: true + reference/left_lower_elbow: + Value: true + reference/left_lower_forearm: + Value: true + reference/left_lower_shoulder: + Value: true + reference/left_torso_itb: + Value: true + reference/left_upper_elbow: + Value: true + reference/left_upper_elbow_visual: + Value: true + reference/left_upper_forearm: + Value: true + reference/left_upper_forearm_visual: + Value: true + reference/left_upper_shoulder: + Value: true + reference/left_wrist: + Value: true + reference/pedestal: + Value: true + reference/right_arm_itb: + Value: true + reference/right_arm_mount: + Value: true + reference/right_gripper: + Value: true + reference/right_gripper_base: + Value: true + reference/right_gripper_mass: + Value: true + reference/right_gripper_object_mass: + Value: true + reference/right_hand: + Value: true + reference/right_hand_accelerometer: + Value: true + reference/right_hand_camera: + Value: true + reference/right_hand_camera_axis: + Value: true + reference/right_hand_range: + Value: true + reference/right_lower_elbow: + Value: true + reference/right_lower_forearm: + Value: true + reference/right_lower_shoulder: + Value: true + reference/right_torso_itb: + Value: true + reference/right_upper_elbow: + Value: true + reference/right_upper_elbow_visual: + Value: true + reference/right_upper_forearm: + Value: true + reference/right_upper_forearm_visual: + Value: true + reference/right_upper_shoulder: + Value: true + reference/right_wrist: + Value: true + reference/screen: + Value: true + reference/sonar_ring: + Value: true + reference/torso: + Value: true + right_arm_itb: + Value: true + right_arm_mount: + Value: true + right_gripper: + Value: true + right_gripper_base: + Value: true + right_hand: + Value: true + right_hand_accelerometer: + Value: true + right_hand_camera: + Value: true + right_hand_camera_axis: + Value: true + right_hand_range: + Value: true + right_lower_elbow: + Value: true + right_lower_forearm: + Value: true + right_lower_shoulder: + Value: true + right_torso_itb: + Value: true + right_upper_elbow: + Value: true + right_upper_elbow_visual: + Value: true + right_upper_forearm: + Value: true + right_upper_forearm_visual: + Value: true + right_upper_shoulder: + Value: true + right_wrist: + Value: true + screen: + Value: true + sonar_ring: + Value: true + tabletop_cpi_decomposeroutput00: + Value: true + torso: + Value: true + workspace: + Value: true + world: + Value: true + Marker Scale: 0.4000000059604645 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + base: + collision_head_link_1: + {} + collision_head_link_2: + {} + realsense_torso_color_optical_frame: + {} + tabletop_cpi_decomposeroutput00: + {} + torso: + head: + dummyhead1: + {} + head_camera: + {} + screen: + display: + {} + left_arm_mount: + left_upper_shoulder: + left_lower_shoulder: + left_upper_elbow: + left_lower_elbow: + left_upper_forearm: + left_arm_itb: + {} + left_lower_forearm: + left_wrist: + left_hand: + left_gripper_base: + left_gripper: + {} + left_hand_accelerometer: + {} + left_hand_camera: + {} + left_hand_camera_axis: + {} + left_hand_range: + {} + left_upper_forearm_visual: + {} + left_upper_elbow_visual: + {} + left_torso_itb: + {} + pedestal: + {} + right_arm_mount: + right_upper_shoulder: + right_lower_shoulder: + right_upper_elbow: + right_lower_elbow: + right_upper_forearm: + right_arm_itb: + {} + right_lower_forearm: + right_wrist: + right_hand: + right_gripper_base: + right_gripper: + {} + right_hand_accelerometer: + {} + right_hand_camera: + {} + right_hand_camera_axis: + {} + right_hand_range: + {} + right_upper_forearm_visual: + {} + right_upper_elbow_visual: + {} + right_torso_itb: + {} + sonar_ring: + {} + workspace: + {} + reference/base: + reference/collision_head_link_1: + {} + reference/collision_head_link_2: + {} + reference/torso: + reference/head: + reference/dummyhead1: + {} + reference/head_camera: + {} + reference/screen: + reference/display: + {} + reference/left_arm_mount: + reference/left_upper_shoulder: + reference/left_lower_shoulder: + reference/left_upper_elbow: + reference/left_lower_elbow: + reference/left_upper_forearm: + reference/left_arm_itb: + {} + reference/left_lower_forearm: + reference/left_wrist: + reference/left_hand: + reference/left_gripper_base: + reference/left_gripper: + {} + reference/left_gripper_mass: + reference/left_gripper_object_mass: + {} + reference/left_hand_accelerometer: + {} + reference/left_hand_camera: + {} + reference/left_hand_camera_axis: + {} + reference/left_hand_range: + {} + reference/left_upper_forearm_visual: + {} + reference/left_upper_elbow_visual: + {} + reference/left_torso_itb: + {} + reference/pedestal: + {} + reference/right_arm_mount: + reference/right_upper_shoulder: + reference/right_lower_shoulder: + reference/right_upper_elbow: + reference/right_lower_elbow: + reference/right_upper_forearm: + reference/right_arm_itb: + {} + reference/right_lower_forearm: + reference/right_wrist: + reference/right_hand: + reference/right_gripper_base: + reference/right_gripper: + {} + reference/right_gripper_mass: + reference/right_gripper_object_mass: + {} + reference/right_hand_accelerometer: + {} + reference/right_hand_camera: + {} + reference/right_hand_camera_axis: + {} + reference/right_hand_range: + {} + reference/right_upper_forearm_visual: + {} + reference/right_upper_elbow_visual: + {} + reference/right_torso_itb: + {} + reference/sonar_ring: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /realsense_torso/color/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: /realsense_torso/color/image_rect_color + Color Transformer: RGB8 + Color Transport Hint: compressed + Decay Time: 0 + Depth Map Topic: /realsense_torso/aligned_depth_to_color/compressed/image_raw + Depth Map Transport Hint: compressedDepth + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /realsense_torso/color/point_pose_extractor_jetson_box/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Features + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 0.10000000149011612 + Axes Radius: 0.019999999552965164 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Axes + Topic: /realsense_torso/color/object_pose + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /realsense_torso/color/object_detection_marker_array + Name: Detected Object + Namespaces: + object_body_jetson_box: true + object_coords_jetson_box: true + object_text_jetson_box: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + 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: 1.6667801141738892 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.41452664136886597 + Y: 0.042292267084121704 + Z: 0.4832676351070404 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.10979632288217545 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.253578186035156 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Features: + collapsed: false + Height: 951 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1267 + X: 964 + Y: 38