更新rviz显示参数,增加odom显示

src/robot_navigation/maps/tb_condo_2.yaml

@@ -1,7 +0,0 @@
-image: tb_condo_2.pgm
-resolution: 0.050000
-origin: [-12.200000, -13.800000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-

src/robot_navigation/rviz/view_navigation.rviz

@@ -3,7 +3,9 @@ Panels:
     Help Height: 123
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /TF1
+        - /Odometry1/Shape1
       Splitter Ratio: 0.486111104
     Tree Height: 730
   - Class: rviz/Selection
@@ -65,7 +67,7 @@ Visualization Manager:
           Value: true
         odom_combined:
           Value: true
-      Marker Scale: 1
+      Marker Scale: 0.600000024
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -211,6 +213,40 @@ Visualization Manager:
       Topic: /move_base/global_costmap/footprint
       Unreliable: false
       Value: true
+    - Angle Tolerance: 0.0500000007
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.300000012
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.0500000007
+      Shape:
+        Alpha: 0.5
+        Axes Length: 1
+        Axes Radius: 0.100000001
+        Color: 255; 0; 0
+        Head Length: 0.0500000007
+        Head Radius: 0.0500000007
+        Shaft Length: 0.0500000007
+        Shaft Radius: 0.0199999996
+        Value: Arrow
+      Topic: /odom_ekf
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 45; 32; 41
@@ -236,33 +272,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 7.44187689
+      Distance: 4.80147648
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.5743854
-        Y: 0.357152015
-        Z: -0.0455776304
+        X: 1.93291664
+        Y: 0.0109130181
+        Z: 0.236017019
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.914797068
+      Pitch: 1.03479707
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.64868212
+      Yaw: 2.58870935
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: false
+    collapsed: true
   Height: 1056
-  Hide Left Dock: false
+  Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000006100000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000007800000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: