[launch] add node for rviz with config file

config/config.rviz

@@ -7,10 +7,9 @@ Panels:
         - /Global Options1
         - /Status1
         - /PointCloud1
-        - /PointCloud1/Status1
         - /Camera1/Visibility1
       Splitter Ratio: 0.5
-    Tree Height: 363
+    Tree Height: 357
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -21,7 +20,8 @@ Panels:
     Name: Tool Properties
     Splitter Ratio: 0.588679016
   - Class: rviz/Views
-    Expanded: ~
+    Expanded:
+      - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
@@ -119,7 +119,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 7.91928148
+      Distance: 30.8533325
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -134,20 +134,20 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.650399446
+      Pitch: 0.390400231
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.07174373
+      Yaw: 0.436742693
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1001
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000001f3000000c600fffffffb0000000c00430061006d0065007200610100000233000000bd0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000351fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000001ed000000c600fffffffb0000000c00430061006d006500720061010000022d0000015e0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006900000003efc0100000002fb0000000800540069006d00650100000000000006900000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000005340000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -156,6 +156,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1200
-  X: 59
-  Y: 34
+  Width: 1680
+  X: -125
+  Y: 93

launch/default.launch

@@ -24,4 +24,8 @@
 
 <node pkg="sensor_training_result" type="assemble_scans_node" name="assemble_scans"/>
 
+<!-- Rviz -->
+<node pkg="rviz" type="rviz" name="sensor_training_result_rviz" 
+    args="-d $(find sensor_training_result)/config/config.rviz"/>
+
 </launch>