foxglove-layout.json

{
  "configById": {
    "3D!18i6zy7": {
      "layers": {
        "845139cb-26bc-40b3-8161-8ab60af4baf5": {
          "visible": true,
          "frameLocked": true,
          "label": "Grid",
          "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
          "layerId": "foxglove.Garid",
          "size": 10,
          "divisions": 10,
          "lineWidth": 1,
          "color": "#248eff",
          "position": [
            0,
            0,
            0
          ],
          "rotation": [
            0,
            0,
            0
          ],
          "order": 1
        },
        "160e6e08-676d-470b-95d1-a3784efa5993": {
          "visible": true,
          "frameLocked": true,
          "label": "URDF",
          "instanceId": "160e6e08-676d-470b-95d1-a3784efa5993",
          "layerId": "foxglove.Urdf",
          "sourceType": "topic",
          "url": "",
          "filePath": "",
          "parameter": "",
          "topic": "{{env "NAMESPACE"}}/robot_description",
          "framePrefix": "{{env "NS_PREFIX"}}",
          "displayMode": "auto",
          "fallbackColor": "#ffffff",
          "order": 2
        }
      },
      "cameraState": {
        "perspective": false,
        "distance": 16.267734757346467,
        "phi": 29.99999999999957,
        "thetaOffset": 90.00000000000345,
        "targetOffset": [
          0.2914251869950411,
          -0.34919366740225544,
          -5.932468837162252e-17
        ],
        "target": [
          0,
          0,
          0
        ],
        "targetOrientation": [
          0,
          0,
          0,
          1
        ],
        "fovy": 45,
        "near": 0.5,
        "far": 5000
      },
      "followMode": "follow-pose",
      "followTf": "{{env "NS_PREFIX"}}map",
      "scene": {
        "transforms": {
          "showLabel": true,
          "editable": true
        },
        "enableStats": true,
        "ignoreColladaUpAxis": false,
        "meshUpAxis": "z_up"
      },
      "transforms": {
        "frame:{{env "NS_PREFIX"}}map": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}body_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}base_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}cover_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}front_bumper_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}imu_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}rear_bumper_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}velodyne_puck_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}lights_channel_1_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}lights_channel_2_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}velodyne": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}odom": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}fl_wheel_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}fr_wheel_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}rl_wheel_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}rr_wheel_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}slamtec_rplidar_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}laser": {
          "visible": false
        },
        "frame:backup_apriltag_image_link": {
          "visible": false
        },
        "frame:backup_apriltag_link": {
          "visible": false
        },
        "frame:backup_wibotic_station_link": {
          "visible": false
        },
        "frame:backup_wibotic_transmitter_link": {
          "visible": false
        },
        "frame:main_apriltag_image_link": {
          "visible": false
        },
        "frame:main_apriltag_link": {
          "visible": false
        },
        "frame:main_wibotic_station_link": {
          "visible": false
        },
        "frame:main_wibotic_transmitter_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}base_footprint": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}camera_color_optical_frame": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}camera_color_frame": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}camera_depth_optical_frame": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}camera_depth_frame": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}mount_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}wibotic_receiver_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}camera_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}camera_orbbec_astra_link": {
          "visible": false
        },
        "frame:{{env "NS_PREFIX"}}base_link/panther/camera_orbbec_astra_depth": {
          "visible": false
        }
      },
      "topics": {
        "{{env "NAMESPACE"}}/map": {
          "visible": true,
          "colorMode": "map",
          "alpha": 0.5
        },
        "{{env "NAMESPACE"}}/cost_cloud": {
          "visible": false
        },
        "{{env "NAMESPACE"}}/plan": {
          "visible": true,
          "lineWidth": 0.1,
          "gradient": [
            "#00ff1eff",
            "#00b12b80"
          ]
        },
        "{{env "NAMESPACE"}}/plan_smoothed": {
          "visible": false
        },
        "{{env "NAMESPACE"}}/received_global_plan": {
          "visible": false
        },
        "{{env "NAMESPACE"}}/global_costmap/published_footprint": {
          "visible": false
        },
        "{{env "NAMESPACE"}}/global_costmap/costmap": {
          "visible": true,
          "colorMode": "costmap",
          "alpha": 0.25
        },
        "{{env "NAMESPACE"}}/local_costmap/costmap": {
          "visible": true,
          "colorMode": "costmap",
          "alpha": 0.5
        },
        "{{env "NAMESPACE"}}/pose": {
          "visible": false,
          "type": "arrow"
        },
        "{{env "NAMESPACE"}}/scan": {
          "visible": true,
          "colorField": "intensity",
          "colorMode": "colormap",
          "colorMap": "turbo",
          "explicitAlpha": 1,
          "pointSize": 4
        },
        "{{env "NAMESPACE"}}/marker": {
          "visible": false,
          "showOutlines": true
        },
        "{{env "NAMESPACE"}}/goal_pose": {
          "visible": true,
          "type": "arrow",
          "color": "#13ff00ff"
        },
        "{{env "NAMESPACE"}}/local_plan": {
          "visible": true,
          "gradient": [
            "#ff0000ff",
            "#ff000080"
          ]
        }
      },
      "publish": {
        "type": "pose",
        "poseTopic": "{{env "NAMESPACE"}}/goal_pose",
        "pointTopic": "/clicked_point",
        "poseEstimateTopic": "/initialpose",
        "poseEstimateXDeviation": 0.5,
        "poseEstimateYDeviation": 0.5,
        "poseEstimateThetaDeviation": 0.26179939
      },
      "imageMode": {}
    },
    "EStop!3mw7boq": {
      "requestPayload": "{}",
      "goServiceName": "{{env "NAMESPACE"}}/hardware/e_stop_reset",
      "stopServiceName": "{{env "NAMESPACE"}}/hardware/e_stop_trigger",
      "statusTopicName": "{{env "NAMESPACE"}}/hardware/e_stop.data",
      "foxglovePanelTitle": "E-stop"
    },
    "Joy!454iiby": {
      "topic": "{{env "NAMESPACE"}}/cmd_vel",
      "publishRate": 5,
      "stamped": false,
      "advanced": false,
      "xAxis": {
        "field": "linear-x",
        "limit": 1
      },
      "yAxis": {
        "field": "angular-z",
        "limit": 1
      },
      "frameId": "{{env "NS_PREFIX"}}body_link"
    },
    "DiagnosticSummary!3ebmih7": {
      "minLevel": 0,
      "pinnedIds": [],
      "hardwareIdFilter": "",
      "topicToRender": "{{env "NAMESPACE"}}/diagnostics",
      "sortByLevel": true
    }
  },
  "globalVariables": {},
  "userNodes": {},
  "playbackConfig": {
    "speed": 1
  },
  "layout": {
    "first": "3D!18i6zy7",
    "second": {
      "first": "EStop!3mw7boq",
      "second": {
        "first": "Joy!454iiby",
        "second": "DiagnosticSummary!3ebmih7",
        "direction": "column",
        "splitPercentage": 60.441176470588246
      },
      "direction": "column",
      "splitPercentage": 23.423423423423422
    },
    "direction": "row",
    "splitPercentage": 63.489583333333336
  }
}