[rviz] Add config without slam

rviz/frontier.rviz

@@ -0,0 +1,261 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Axes1
+        - /Marker1
+        - /MarkerArray5/Namespaces1
+      Splitter Ratio: 0.7191011309623718
+    Tree Height: 932
+  - 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
+    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: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: red/slam/map
+      Value: false
+    - Class: Submaps
+      Enabled: true
+      Fade-out distance: 1e+7
+      High Resolution: true
+      Low Resolution: false
+      Name: Submaps
+      Submap query service: /map/submap_query
+      Submaps:
+        All: true
+        All Submap Pose Markers: true
+      Topic: /red/submap_list
+      Tracking frame: red/map/base_link
+      Unreliable: false
+      Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 0.5
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: red/base_link
+      Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 2
+      Name: Axes
+      Radius: 0.30000001192092896
+      Reference Frame: world
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /red/free_cells_vis_array
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /red/frontier_cells_vis_array
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /red/occupied_cells_vis_array
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /occupied_cells_vis_array
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /red/best_frontier_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: octomap_rviz_plugin/OccupancyGrid
+      Enabled: true
+      Max. Height Display: 3.4028234663852886e+38
+      Max. Octree Depth: 16
+      Min. Height Display: -3.4028234663852886e+38
+      Name: OccupancyGrid
+      Octomap Topic: /red/octomap_binary
+      Queue Size: 5
+      Value: true
+      Voxel Alpha: 1
+      Voxel Coloring: Z-Axis
+      Voxel Rendering: Occupied Voxels
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 16.556499481201172
+        Min Value: -1.5969154834747314
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Points
+      Topic: /red/velodyne_points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /red/visualization/path
+      Unreliable: false
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /red/trajectory_node_list
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 1000000
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: world
+    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: ""
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 26.785118103027344
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -11.086996078491211
+        Y: -7.293280601501465
+        Z: -5.4416144848801196e-5
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.574796736240387
+      Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz)
+      Yaw: 3.0442144870758057
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1145
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003dffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003df000000c700fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000036d000000c60000005c00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000037e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d0000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000005e1000003df00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1853
+  X: 1987
+  Y: 27