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[ros2_driver/ti_mmwave_rospkg] Updated the launch files and the rviz file.

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- Added a common launch file IWR6843.py for all the IWR6843x launch files.
- CLI config file, command port, and data port can passed at the command line with launch arguments. For example, below is equivalent to '6843ISK_Tracking.py':
  ros2 launch ti_mmwave_rospkg IWR6843.py cfg_file:=6843ISK_Tracking.cfg
- 6843{ISK,AOP}_{Standard,Tracking,Occupancy}.py now call the common launch file.
- Updated the rviz file to display the XYZ axes.
This commit is contained in:
JuneChul Roh
2024-03-06 18:27:52 -06:00
parent db9c5384e2
commit be917505ac
7 changed files with 219 additions and 525 deletions
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119
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py
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@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Standard.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843AOP_Standard.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py
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@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843AOP_Tracking.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py
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@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Occupancy.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843ISK_Occupancy.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Standard.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843ISK_Standard.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Tracking.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843ISK_Tracking.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

131
ros2_driver/src/ti_mmwave_rospkg/launch/IWR6843.py Normal file
View File

@@ -0,0 +1,131 @@
import os
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
def generate_launch_description():
# Declare the launch argument
cfg_file_arg = DeclareLaunchArgument(
'cfg_file',
default_value='6843ISK_Tracking.cfg'
)
command_port_arg = DeclareLaunchArgument(
'command_port',
default_value='/dev/ttyUSB0'
)
data_port_arg = DeclareLaunchArgument(
'data_port',
default_value='/dev/ttyUSB1'
)
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
cfg_file = LaunchConfiguration("cfg_file")
mmwavecli_cfg_path = PathJoinSubstitution([my_package_dir, 'cfg', cfg_file])
device = "6843"
name = "/mmWaveCLI"
command_port = LaunchConfiguration("command_port")
command_rate = "115200"
data_port = LaunchConfiguration("data_port")
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_cfg": mmwavecli_cfg_path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_cfg": mmwavecli_cfg_path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": 90},
{"max_allowed_azimuth_angle_deg": 90},
{"frame_id": "ti_mmwave_0"}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(cfg_file_arg)
ld.add_action(command_port_arg)
ld.add_action(data_port_arg)
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld

18
ros2_driver/src/ti_mmwave_rospkg/launch/rviz.rviz
View File

@@ -7,8 +7,9 @@ Panels:
- /Global Options1
- /Status1
- /PointCloud21
- /Axes1
Splitter Ratio: 0.5
Tree Height: 549
Tree Height: 555
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -63,9 +64,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 0; 255; 0
Max Intensity: 20.0
Max Intensity: 20
Min Color: 255; 0; 0
Min Intensity: 15.0
Min Intensity: 15
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
@@ -82,10 +83,17 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: false
Value: true
- Class: rviz_default_plugins/Axes
Enabled: true
Length: 0.5
Name: Axes
Radius: 0.05000000074505806
Reference Frame: ti_mmwave_0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Fixed Frame: ti_mmwave_0
Frame Rate: 30
Name: root
Tools:
@@ -154,7 +162,7 @@ Window Geometry:
Height: 846
Hide Left Dock: false
Hide Right Dock: true
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Selection:
collapsed: false
Time: