added everything from pc

scripts/calibrate_lidar.py

@@ -13,6 +13,7 @@ import threading
 import time
 import open3d as o3d
 from scipy.spatial.transform import Rotation as R
+from datetime import datetime
 
 class PointCloudSaver(Node):
     def __init__(self, node_name: str, pointcloud_topic: str, buffer, timeout_ms: int):
@@ -111,6 +112,11 @@ class LidarTransformPublisher(Node):
 
         self.br.sendTransform(t)
         self.get_logger().info("Published static transform.")
+        if input("Is it acurate? [y/N] ").lower() == 'y':
+            file_name = f"calibration/{datetime.now().strftime("%Y_%m_%d-%H_%M_%S")}.npy"
+            np.save(file_name, self.T)
+            self.get_logger().info(f"Saved {file_name}")
+        
 
     def pcd_buffer_to_o3d(self, buffer: BytesIO):
         buffer.seek(0)
@@ -195,7 +201,7 @@ class LidarTransformPublisher(Node):
         return transformation
 
 
-def monitor_nodes(nodes, publisher):
+def monitor_nodes(nodes, executor, publisher):
     while rclpy.ok():
         if all(node.finished for node in nodes):
             print("All pointclouds captured")
@@ -210,12 +216,12 @@ def main():
 
     executor = MultiThreadedExecutor()
     nodes = [
-        PointCloudSaver('velodyne_pcd_saver', '/velodyne_points', buffer_velodyne, 350),
+        PointCloudSaver('velodyne_pcd_saver', '/lidar/vlp16/points', buffer_velodyne, 3_500),
-        PointCloudSaver('livox_pcd_saver', '/livox/lidar', buffer_livox, 1000),
+        PointCloudSaver('livox_pcd_saver', '/lidar/mid40/points', buffer_livox, 5_000),
     ]
     publisher = LidarTransformPublisher(buffer_velodyne, 'velodyne', buffer_livox, 'frame_default')
 
-    monitor_thread = threading.Thread(target=monitor_nodes, args=(nodes,publisher), daemon=True)
+    monitor_thread = threading.Thread(target=monitor_nodes, args=(nodes,executor,publisher), daemon=True)
     monitor_thread.start()
 
     for node in nodes:

scripts/plot.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+import threading
+
+class MultiPlotter(Node):
+    def __init__(self):
+        super().__init__("multi_plotter")
+
+        # Data buffers
+        self.angle = []
+        self.velocity = []
+        self.acceleration = []
+
+        # Subscriptions
+        self.create_subscription(Float32, '/nucleo/stepper0/position',
+                                 self.angle_callback, 10)
+        self.create_subscription(Float32, '/nucleo/stepper0/velocity',
+                                 self.velocity_callback, 10)
+        self.create_subscription(Float32, '/nucleo/stepper0/acceleration',
+                                 self.accel_callback, 10)
+
+    def angle_callback(self, msg):
+        self.angle.append(msg.data)
+        self._trim()
+
+    def velocity_callback(self, msg):
+        self.velocity.append(msg.data)
+        self._trim()
+
+    def accel_callback(self, msg):
+        self.acceleration.append(msg.data)
+        self._trim()
+
+    def _trim(self, limit=2000):
+        """Keep buffers short so memory stays small."""
+        if len(self.angle) > limit:
+            self.angle.pop(0)
+        if len(self.velocity) > limit:
+            self.velocity.pop(0)
+        if len(self.acceleration) > limit:
+            self.acceleration.pop(0)
+
+
+def animate(i, node, axes):
+    # Clear each subplot
+    for ax in axes:
+        ax.cla()
+
+    # Angle
+    if len(node.angle) > 0:
+        axes[0].plot(node.angle, color='red')
+    axes[0].set_title("Angle")
+    axes[0].grid(True)
+
+    # Velocity
+    if len(node.velocity) > 0:
+        axes[1].plot(node.velocity, color='green')
+    axes[1].set_title("Velocity")
+    axes[1].grid(True)
+
+    # Acceleration
+    if len(node.acceleration) > 0:
+        axes[2].plot(node.acceleration, color='blue')
+    axes[2].set_title("Acceleration")
+    axes[2].grid(True)
+
+    # Shared axis labels
+    axes[2].set_xlabel("Samples")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MultiPlotter()
+
+    # Start ROS spinning in the background
+    thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
+    thread.start()
+
+    # Create three subplots
+    fig, axes = plt.subplots(3, 1, figsize=(8, 8), sharex=True)
+
+    # Persist animation object
+    global ani
+    ani = animation.FuncAnimation(
+        fig,
+        animate,
+        fargs=(node, axes),
+        interval=16
+    )
+
+    plt.tight_layout()
+    plt.show()
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

scripts/publish_lidar_offset.py

@@ -1,87 +0,0 @@
-#!/usr/bin/env python3
-import rclpy
-from rclpy.node import Node
-from tf2_ros import StaticTransformBroadcaster
-from geometry_msgs.msg import TransformStamped
-import numpy as np
-import open3d as o3d
-from scipy.spatial.transform import Rotation as R
-
-class StaticTransformPublisher(Node):
-    def __init__(self):
-        super().__init__('static_transform_from_pointclouds')
-
-        # Static TF broadcaster
-        self.br = StaticTransformBroadcaster(self)
-
-        # Pointcloud files
-        self.velodyne_file = "/root/velodyne.pcd"
-        self.livox_file = "/root/livox.pcd"
-
-        # Frames
-        self.livox_frame = "frame_default"
-        self.velodyne_frame = "velodyne"
-
-        # Compute transform once
-        self.T = self.compute_transform()
-        self.get_logger().info(f"Computed initial transform:\n{self.T}")
-
-        # Prepare translation and rotation
-        T_copy = np.array(self.T, copy=True)
-        trans = T_copy[:3, 3]
-        rot_quat = R.from_matrix(T_copy[:3, :3]).as_quat()  # [x, y, z, w]
-
-        # Create static TransformStamped
-        t = TransformStamped()
-        t.header.stamp.sec = 0
-        t.header.stamp.nanosec = 0
-        t.header.frame_id = self.velodyne_frame
-        t.child_frame_id = self.livox_frame
-        t.transform.translation.x = trans[0]
-        t.transform.translation.y = trans[1]
-        t.transform.translation.z = trans[2]
-        t.transform.rotation.x = rot_quat[0]
-        t.transform.rotation.y = rot_quat[1]
-        t.transform.rotation.z = rot_quat[2]
-        t.transform.rotation.w = rot_quat[3]
-
-        # Publish once
-        self.br.sendTransform(t)
-        self.get_logger().info("Published static transform.")
-
-    def compute_transform(self):
-        # Load point clouds
-        pcd_vel = o3d.io.read_point_cloud(self.velodyne_file)
-        pcd_liv = o3d.io.read_point_cloud(self.livox_file)
-
-        # Downsample
-        voxel_size = 0.05
-        pcd_vel_ds = pcd_vel.voxel_down_sample(voxel_size)
-        pcd_liv_ds = pcd_liv.voxel_down_sample(voxel_size)
-
-        # Estimate normals
-        pcd_vel_ds.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamKNN(knn=20))
-        pcd_liv_ds.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamKNN(knn=20))
-
-        # ICP registration
-        threshold = 0.5
-        reg_result = o3d.pipelines.registration.registration_icp(
-            pcd_liv_ds, pcd_vel_ds, threshold,
-            np.eye(4),
-            o3d.pipelines.registration.TransformationEstimationPointToPoint()
-        )
-        return reg_result.transformation
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = StaticTransformPublisher()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()

scripts/save_pointcloud.py

@@ -1,113 +0,0 @@
-import rclpy
-from rclpy.node import Node
-from rclpy.executors import MultiThreadedExecutor
-from sensor_msgs.msg import PointCloud2
-import sensor_msgs_py.point_cloud2 as pc2
-import numpy as np
-import matplotlib.pyplot as plt
-import struct
-from io import BytesIO
-import threading
-import time
-
-class PointCloudSaver(Node):
-    def __init__(self, node_name: str, pointcloud_topic: str, buffer, timeout_ms: int):
-        super().__init__(node_name)
-        self.subscription = self.create_subscription(
-            PointCloud2,
-            pointcloud_topic,
-            self.callback,
-            10
-        )
-        self.buffer = buffer
-        self.finished = False
-        self.points = []
-        self.end_time = self.get_clock().now().nanoseconds + (timeout_ms * 1_000_000)
-        self.cmap = plt.get_cmap('jet') 
-
-    def callback(self, msg):
-        now = self.get_clock().now().nanoseconds
-        for p in pc2.read_points(msg, field_names=("x", "y", "z", "intensity"), skip_nans=True):
-            self.points.append([p[0], p[1], p[2], p[3]])
-
-        if now > self.end_time:
-            if not self.points:
-                self.get_logger().warn("No points received!")
-                self.destroy_node()
-                self.finished = True
-                return
-
-            np_points = np.array(self.points, dtype=np.float32)
-            intensities = np_points[:, 3]
-            norm_int = (intensities - intensities.min()) / (intensities.ptp() + 1e-8)
-
-            # Map normalized intensity to RGB colormap
-            colors = self.cmap(norm_int)[:, :3]  # RGB 0-1
-            colors = (colors * 255).astype(np.uint8)
-            rgb_int = np.left_shift(colors[:,0].astype(np.uint32), 16) | \
-                      np.left_shift(colors[:,1].astype(np.uint32), 8)  | \
-                      colors[:,2].astype(np.uint32)
-
-            filename = "pointcloud.pcd"
-            self.write_pcd_with_intensity_rgb(filename, np_points, rgb_int)
-            self.get_logger().info(f"Saved {filename}")
-            self.destroy_node()
-            self.finished = True
-
-    def write_pcd_with_intensity_rgb(self, filename, points, rgb_int):
-        header = f"""# .PCD v0.7 - Point Cloud Data file format
-VERSION 0.7
-FIELDS x y z intensity rgb
-SIZE 4 4 4 4 4
-TYPE F F F F U
-COUNT 1 1 1 1 1
-WIDTH {points.shape[0]}
-HEIGHT 1
-VIEWPOINT 0 0 0 1 0 0 0
-POINTS {points.shape[0]}
-DATA binary
-"""
-        self.buffer.write(header.encode('ascii'))
-        for i in range(points.shape[0]):
-            # x, y, z, intensity as float32, rgb as uint32
-            self.buffer.write(struct.pack('ffffI', points[i,0], points[i,1], points[i,2], points[i,3], rgb_int[i]))
-
-def monitor_nodes(nodes):
-    """Separate thread that monitors node status and shuts down ROS when done."""
-    while rclpy.ok():
-        if all(node.finished for node in nodes):
-            print("All nodes finished. Shutting down ROS.")
-            rclpy.shutdown()
-            break
-        time.sleep(0.1)  # check periodically
-
-def main():
-    rclpy.init()
-    file_velodyne = open('/root/velodyne.pcd', "wb+")
-    file_livox = open('/root/livox.pcd', "wb+")
-
-    executor = MultiThreadedExecutor()
-
-    nodes = [
-        PointCloudSaver('velodyne_pcd_saver', '/velodyne_points', file_velodyne, 5000),
-        PointCloudSaver('livox_pcd_saver', '/livox/lidar', file_livox, 5000),
-    ]
-
-    monitor_thread = threading.Thread(target=monitor_nodes, args=(nodes,), daemon=True)
-    monitor_thread.start()
-
-    for node in nodes:
-        executor.add_node(node)
-    try:
-        executor.spin()
-    finally:
-        monitor_thread.join()
-        print("Executor and monitor thread exited cleanly.")
-
-        file_velodyne.close()
-        file_livox.close()
-
-
-if __name__ == "__main__":
-    main()
-

tracking.rviz

@@ -0,0 +1,459 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud29/Topic1
+        - /PointStamped1
+        - /PointStamped1/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 720
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        frame_default:
+          Value: true
+        lidar_base:
+          Value: true
+        livox_base:
+          Value: true
+        velodyne:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        velodyne:
+          lidar_base:
+            {}
+          livox_base:
+            frame_default:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 100
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/cluster0
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 170; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/cluster1
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/cluster2
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 0; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/cluster3
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 0; 170; 255
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/cluster4
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 85; 0; 127
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/cluster5
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 166
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /lidar/vlp16/downsampled
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 154
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /lidar/mid40/downsampled
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 154
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /lidar/merged/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/PointStamped
+      Color: 255; 255; 255
+      Enabled: true
+      History Length: 1
+      Name: PointStamped
+      Radius: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /tracking/target_pos
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 0; 0; 0
+    Fixed Frame: lidar_base
+    Frame Rate: 60
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - 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
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 20.069171905517578
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 2.547194004058838
+        Y: 0.8107800483703613
+        Z: -0.0785689651966095
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.8897970914840698
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 3.055371046066284
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1011
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000359000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b40000003efc0100000002fb0000000800540069006d00650100000000000003b40000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000002580000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 948
+  X: 1927
+  Y: 62