Update rviz and some default parameters

Author: Kenny Chen

cfg/params.yaml

@@ -31,7 +31,7 @@ dlio:
     computeTimeOffset: true
 
     imu:
-      approximateGravity: false
+      approximateGravity: true
       calibration:
         gyro: true
         accel: true

launch/dlio.rviz

@@ -8,7 +8,7 @@ Panels:
         - /Point Clouds1
         - /Odometry1
       Splitter Ratio: 0.6470588445663452
-    Tree Height: 441
+    Tree Height: 985
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +27,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: Dense Map
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -118,7 +118,7 @@ Visualization Manager:
           Color: 0; 255; 0
           Color Transformer: Intensity
           Decay Time: 9999
-          Enabled: true
+          Enabled: false
           Invert Rainbow: false
           Max Color: 255; 255; 255
           Max Intensity: 1024
@@ -135,7 +135,7 @@ Visualization Manager:
           Unreliable: false
           Use Fixed Frame: true
           Use rainbow: true
-          Value: true
+          Value: false
         - Alpha: 1
           Autocompute Intensity Bounds: false
           Autocompute Value Bounds:
@@ -148,7 +148,7 @@ Visualization Manager:
           Color: 255; 255; 255
           Color Transformer: Intensity
           Decay Time: 0
-          Enabled: false
+          Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
           Max Intensity: 1024
@@ -165,7 +165,7 @@ Visualization Manager:
           Unreliable: false
           Use Fixed Frame: true
           Use rainbow: true
-          Value: false
+          Value: true
       Enabled: true
       Name: Point Clouds
     - Class: rviz/Group
@@ -299,10 +299,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1016
+  Height: 1136
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time: