Remove rviz clutter

Author: Timple

src/common.cpp

@@ -133,7 +133,7 @@ bool a_star_to_open_space(std::vector<std::vector<bool> > const &grid, gridNode_
         }
 
         // For all nodes surrounding the end of the end of the path nn
-        for (int i = 0; i < 4; ++i)
+        for (uint i = 0; i < 4; ++i)
         {
           Point_t p2 =
           {

test/full_coverage_path_planner/fcpp.rviz

@@ -3,8 +3,7 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Footprint1
+      Expanded: ~
       Splitter Ratio: 0.5
     Tree Height: 554
   - Class: rviz/Selection
@@ -188,135 +187,6 @@ Visualization Manager:
       Topic: /move_base_flex/global_costmap/footprint
       Unreliable: false
       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/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 999999
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.10000000149011612
-      Style: Flat Squares
-      Topic: /clara/scan
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/PoseWithCovariance
-      Color: 255; 25; 0
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
-          Value: true
-        Position:
-          Alpha: 0.30000001192092896
-          Color: 204; 51; 204
-          Scale: 1
-          Value: true
-        Value: true
-      Enabled: true
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: PoseAccerion
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /clara/jupiter_abs_odom
-      Unreliable: false
-      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/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: CollisionCloud
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic: /clara/collision_cloud
-      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: TEB GlobalPath
-      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: /clara/move_base/TebLocalPlannerROS/global_plan
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Arrow Length: 0.30000001192092896
-      Axes Length: 0.30000001192092896
-      Axes Radius: 0.009999999776482582
-      Class: rviz/PoseArray
-      Color: 255; 25; 0
-      Enabled: true
-      Head Length: 0.07000000029802322
-      Head Radius: 0.029999999329447746
-      Name: TEB Poses
-      Shaft Length: 0.23000000417232513
-      Shaft Radius: 0.009999999776482582
-      Shape: Arrow (Flat)
-      Topic: /clara/move_base/TebLocalPlannerROS/teb_poses
-      Unreliable: false
-      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -333,7 +203,7 @@ Visualization Manager:
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
       Theta std deviation: 0.2617993950843811
-      Topic: /clara/set_pose
+      Topic: /set_pose
       X std deviation: 0.5
       Y std deviation: 0.5
     - Class: rviz/SetGoal