Fixed display.launch

zed_display_rviz/launch/display.launch

@@ -17,13 +17,15 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 -->
 <launch>
+    <arg name="svo_file"                default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
 
-  <!-- Launch ZED camera wrapper -->
-  <include file="$(find zed_wrapper)/launch/zed.launch">
-      <arg name="camera_model" value="0" /> <!-- 0=ZED, 1=ZEDM-->
-  </include>
+    <!-- Launch ZED camera wrapper -->
+    <include file="$(find zed_wrapper)/launch/zed.launch">
+        <arg name="camera_model"        value="0" /> <!-- 0=ZED, 1=ZEDM-->
+        <arg name="svo_file"            value="$(arg svo_file)" />
+    </include>
 
-  <!-- Launch rivz display -->
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_display_rviz)/rviz/zed.rviz" output="screen" />
+    <!-- Launch rivz display -->
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_display_rviz)/rviz/zed.rviz" output="screen" />
 
 </launch>

zed_display_rviz/rviz/zedm.rviz

@@ -7,6 +7,7 @@ Panels:
         - /Global Options1
         - /RobotModel1/Links1
         - /TF1/Frames1
+        - /DepthCloud1
         - /DepthCloud1/Occlusion Compensation1
         - /Odometry1/Covariance1/Position1
       Splitter Ratio: 0.5
@@ -97,8 +98,6 @@ Visualization Manager:
       Frame Timeout: 5
       Frames:
         All Enabled: false
-        imu_link:
-          Value: false
         map:
           Value: true
         odom:
@@ -122,8 +121,6 @@ Visualization Manager:
         map:
           odom:
             zed_camera_center:
-              imu_link:
-                {}
               zed_left_camera_frame:
                 zed_left_camera_optical_frame:
                   {}
@@ -238,11 +235,11 @@ Visualization Manager:
         y_scale: 1
         z_scale: 1
       Class: rviz_imu_plugin/Imu
-      Enabled: true
+      Enabled: false
       Name: Imu
       Topic: /zed/imu/data
       Unreliable: false
-      Value: true
+      Value: false
       fixed_frame_orientation: true
     - Alpha: 1
       Axes Length: 1
@@ -318,25 +315,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.1419313
+      Distance: 3.77481484
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.546764851
-        Y: -0.0699039996
-        Z: 0.35577035
+        X: 0.861115396
+        Y: 1.21251762
+        Z: 0.619552732
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.30479762
+      Pitch: 0.0147975748
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.96410108
+      Yaw: 4.01910114
     Saved: ~
 Window Geometry:
   Camera: