From b4485252e5762cef1bdcdf5debdc109bf555ac05 Mon Sep 17 00:00:00 2001
From: Josh Dye <j-dye@ti.com>
Date: Wed, 9 Mar 2022 10:17:09 -0600
Subject: [PATCH] Added launch files for visualization on remote PC

---
 .../launch/rviz/ti_mmwave_quad.rviz           | 244 ++++++++++++++++++
 .../launch/viz_remote_pc.launch               |  10 +
 .../launch/viz_remote_pc_quad.launch          |  10 +
 3 files changed, 264 insertions(+)
 create mode 100644 ros_driver/src/ti_mmwave_rospkg/launch/rviz/ti_mmwave_quad.rviz
 create mode 100644 ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc.launch
 create mode 100644 ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc_quad.launch

diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/rviz/ti_mmwave_quad.rviz b/ros_driver/src/ti_mmwave_rospkg/launch/rviz/ti_mmwave_quad.rviz
new file mode 100644
index 0000000..2206c0b
--- /dev/null
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/rviz/ti_mmwave_quad.rviz
@@ -0,0 +1,244 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1/Offset1
+        - /PointCloud21/Autocompute Value Bounds1
+      Splitter Ratio: 0.5
+    Tree Height: 573
+  - 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
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 5
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.5
+        Min Value: -0.5
+        Value: false
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 0; 0
+      Color Transformer: Intensity
+      Decay Time: 0.4000000059604645
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 102; 0; 0
+      Min Color: 255; 102; 102
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic: /ti_mmwave/radar_scan_pcl_0
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.5
+        Min Value: -0.5
+        Value: false
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 204; 204; 0
+      Color Transformer: Intensity
+      Decay Time: 0.4000000059604645
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 102; 102; 0
+      Min Color: 255; 255; 51
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic: /ti_mmwave/radar_scan_pcl_1
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
+    - 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: 0.4000000059604645
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 74; 112; 0
+      Min Color: 170; 255; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic: /ti_mmwave/radar_scan_pcl_2
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
+    - 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: 0.4000000059604645
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 0; 118; 118
+      Min Color: 0; 255; 255
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic: /ti_mmwave/radar_scan_pcl_3
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: ti_mmwave_pcl
+    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: 14.119680404663086
+      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: 5
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5597963333129883
+      Target Frame: <Fixed Frame>
+      Yaw: 3.144761800765991
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 876
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ad000002c6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002c6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002ab000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000004afc0100000002fb0000000800540069006d00650100000000000005ff0000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000044c000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1535
+  X: 331
+  Y: 27
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc.launch b/ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc.launch
new file mode 100644
index 0000000..277d8ee
--- /dev/null
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc.launch
@@ -0,0 +1,10 @@
+<!--
+  This file will launch rViz for visualization of point cloud data collected by mmWave radar. 
+  This file is intended to be used for visualization on a remote PC while radar driver runs on TDA4 device.
+ -->
+
+<launch>
+
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_multi.rviz"/>
+
+</launch>
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc_quad.launch b/ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc_quad.launch
new file mode 100644
index 0000000..ac009ee
--- /dev/null
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/viz_remote_pc_quad.launch
@@ -0,0 +1,10 @@
+<!--
+  This file will launch rViz for visualization of point cloud data collected by four mmWave radar sensors. 
+  This file is intended to be used for visualization on a remote PC while the radar driver runs on TDA4 device.
+ -->
+
+<launch>
+
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_quad.rviz"/>
+
+</launch>