更新自动导航时rviz的显示配置文件

src/robot_navigation/maps/mymap.yaml

@@ -1,6 +1,6 @@
 image: mymap.pgm
 resolution: 0.050000
-origin: [-16.200000, -5.000000, 0.000000]
+origin: [-5.000000, -5.000000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196

src/robot_navigation/rviz/view_navigation.rviz

@@ -5,8 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Odometry1/Shape1
-      Splitter Ratio: 0.486111104
-    Tree Height: 314
+      Splitter Ratio: 0.4861111044883728
+    Tree Height: 311
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -15,7 +15,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -26,18 +26,20 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
-    - Alpha: 0.699999988
+    - Alpha: 0.699999988079071
       Cell Size: 1
       Class: rviz/Grid
       Color: 50; 115; 54
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -66,7 +68,7 @@ Visualization Manager:
           Value: true
         odom_combined:
           Value: true
-      Marker Scale: 0.600000024
+      Marker Scale: 0.6000000238418579
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -82,7 +84,7 @@ Visualization Manager:
                   {}
       Update Interval: 0
       Value: true
-    - Alpha: 0.800000012
+    - Alpha: 0.800000011920929
       Class: rviz/Map
       Color Scheme: map
       Draw Behind: false
@@ -92,7 +94,7 @@ Visualization Manager:
       Unreliable: false
       Use Timestamp: false
       Value: true
-    - Alpha: 0.600000024
+    - Alpha: 0.6000000238418579
       Class: rviz/Map
       Color Scheme: costmap
       Draw Behind: false
@@ -127,15 +129,13 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 1016
       Min Color: 0; 0; 0
-      Min Intensity: 1008
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Flat Squares
       Topic: /scan
       Unreliable: false
@@ -183,11 +183,11 @@ Visualization Manager:
       Class: rviz/Path
       Color: 44; 65; 255
       Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
       Line Style: Lines
-      Line Width: 0.0299999993
+      Line Width: 0.029999999329447746
       Name: Path
       Offset:
         X: 0
@@ -195,9 +195,9 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
       Topic: /move_base/DWAPlannerROS/global_plan
       Unreliable: false
       Value: true
@@ -206,11 +206,11 @@ Visualization Manager:
       Class: rviz/Path
       Color: 255; 29; 218
       Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
       Line Style: Lines
-      Line Width: 0.0299999993
+      Line Width: 0.029999999329447746
       Name: Path
       Offset:
         X: 0
@@ -218,9 +218,9 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
       Topic: /move_base/DWAPlannerROS/local_plan
       Unreliable: false
       Value: true
@@ -232,7 +232,7 @@ Visualization Manager:
       Topic: /move_base/global_costmap/footprint
       Unreliable: false
       Value: true
-    - Angle Tolerance: 0.0500000007
+    - Angle Tolerance: 0.05000000074505806
       Class: rviz/Odometry
       Covariance:
         Orientation:
@@ -244,7 +244,7 @@ Visualization Manager:
           Scale: 1
           Value: true
         Position:
-          Alpha: 0.300000012
+          Alpha: 0.30000001192092896
           Color: 204; 51; 204
           Scale: 1
           Value: true
@@ -252,16 +252,16 @@ Visualization Manager:
       Enabled: true
       Keep: 100
       Name: Odometry
-      Position Tolerance: 0.0500000007
+      Position Tolerance: 0.05000000074505806
       Shape:
         Alpha: 0.5
         Axes Length: 1
-        Axes Radius: 0.100000001
+        Axes Radius: 0.10000000149011612
         Color: 255; 0; 0
-        Head Length: 0.0500000007
-        Head Radius: 0.0500000007
-        Shaft Length: 0.0500000007
-        Shaft Radius: 0.0199999996
+        Head Length: 0.05000000074505806
+        Head Radius: 0.05000000074505806
+        Shaft Length: 0.05000000074505806
+        Shaft Radius: 0.019999999552965164
         Value: Arrow
       Topic: /odom_ekf
       Unreliable: false
@@ -281,7 +281,10 @@ Visualization Manager:
     - 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
@@ -291,33 +294,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 4.64580727
+      Distance: 5.203304290771484
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.49610639
-        Y: -0.156017661
-        Z: 0.169606268
+        X: 1.3412742614746094
+        Y: 0.24068225920200348
+        Z: 0.1820366084575653
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 1.1997968
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.7037096
+      Yaw: 4.713709831237793
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1056
+  Height: 970
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000007800000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006500fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000de00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050000000044fc0100000002fb0000000800540069006d00650100000000000005000000028000fffffffb0000000800540069006d00650100000000000004500000000000000000000005000000031b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -326,6 +329,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1920
-  X: 1600
-  Y: 24
+  Width: 1280
+  X: 0
+  Y: 26