added navigation test

toid_navigation/rviz/ros_control.rviz

@@ -3,7 +3,9 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /GlobalCostMap1/Topic1
+        - /Polygon1
       Splitter Ratio: 0.5
     Tree Height: 592
   - Class: rviz_common/Selection
@@ -105,6 +107,42 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Alpha: 0.699999988079071
+      Binary representation: false
+      Binary threshold: 100
+      Class: rviz_default_plugins/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: GlobalCostMap
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/Polygon
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Polygon
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/published_footprint
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -151,25 +189,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/XYOrbit
-      Distance: 2.6907618045806885
+      Distance: 2.5692176818847656
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
+        X: -0.0017188787460327148
+        Y: -0.4051821231842041
         Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4453992545604706
+      Pitch: 0.8797978162765503
       Target Frame: <Fixed Frame>
       Value: XYOrbit (rviz_default_plugins)
-      Yaw: 0.8803985118865967
+      Yaw: 4.3135762214660645
     Saved: ~
 Window Geometry:
   Displays:
@@ -187,5 +225,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1491
-  X: 1980
-  Y: 60
+  X: 476
+  Y: 75