fix(soro_lidar): show rviz correctly

got the path wrong before. whoops

Author: onkoe

src/soro_lidar/launch/launch.py

@@ -44,7 +44,7 @@ def generate_launch_description():
         name="rviz2",
         arguments=[
             "-d",
-            PathJoinSubstitution([FindPackageShare("soro_lidar"), "rviz", "view.rviz"]),
+            PathJoinSubstitution([FindPackageShare("soro_lidar"), "view.rviz"]),
         ],
         output="log",
         condition=IfCondition(launch_rviz),

src/soro_lidar/rviz/view.rviz

@@ -7,10 +7,8 @@ Panels:
         - /Global Options1
         - /Status1
         - /PointCloud21
-        - /TF1
-        - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 607
+    Tree Height: 845
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -24,6 +22,11 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
 Visualization Manager:
   Class: ""
   Displays:
@@ -48,59 +51,37 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 3.4900152683258057
-        Min Value: 0
+        Max Value: 10
+        Min Value: -10
         Value: true
       Axis: Z
       Channel Name: intensity
       Class: rviz_default_plugins/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 1
+      Color Transformer: Intensity
+      Decay Time: 5
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 85
+      Max Intensity: 255
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /unilidar/cloud
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        unilidar_imu:
-          Value: true
-        unilidar_imu_initial:
-          Value: true
-        unilidar_lidar:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Tree:
-        unilidar_imu_initial:
-          unilidar_imu:
-            unilidar_lidar:
-              {}
-      Update Interval: 0
-      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -116,6 +97,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -144,7 +128,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 14.384671211242676
+      Distance: 9.122121810913086
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -159,24 +143,26 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5603978037834167
+      Pitch: 0.4853978455066681
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398006439209
+      Yaw: 2.893608331680298
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 836
+  Height: 1136
   Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002eafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ea000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002eafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ea000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000049c000002ea00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003d6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003d6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003d6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003d6000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004c9000003d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
+  Time:
+    collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: true
-  Width: 1528
-  X: 72
+    collapsed: false
+  Width: 1850
+  X: 70
   Y: 27