From 336d45ad33ef0922eefd771041f71cd8198293c2 Mon Sep 17 00:00:00 2001
From: Christian Henkel <christian.henkel2@de.bosch.com>
Date: Wed, 15 Feb 2023 13:39:49 +0100
Subject: [PATCH 1/3] rviz view straight in default xy orientation

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
---
 nav2_bringup/rviz/nav2_default_view.rviz    | 8 ++++----
 nav2_bringup/rviz/nav2_namespaced_view.rviz | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
index d2a4b5e136d..755cf1f8787 100644
--- a/nav2_bringup/rviz/nav2_default_view.rviz
+++ b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -560,7 +560,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -1.6150002479553223
+      Angle: 0
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -570,11 +570,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 127.88431549072266
+      Scale: 160
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -0.044467076659202576
-      Y: -0.38726311922073364
+      X: 0
+      Y: 0
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/nav2_bringup/rviz/nav2_namespaced_view.rviz b/nav2_bringup/rviz/nav2_namespaced_view.rviz
index 57b2d7bf741..5ab76d133a9 100644
--- a/nav2_bringup/rviz/nav2_namespaced_view.rviz
+++ b/nav2_bringup/rviz/nav2_namespaced_view.rviz
@@ -342,7 +342,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -1.5700000524520874
+      Angle: 0
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -352,11 +352,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 134.638427734375
+      Scale: 160
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -0.032615214586257935
-      Y: -0.0801941454410553
+      X: 0
+      Y: 0
     Saved: ~
 Window Geometry:
   Displays:

From 6d54ff27a29d3cfeabc1958621c44f006b2865ba Mon Sep 17 00:00:00 2001
From: Christian Henkel <christian.henkel2@de.bosch.com>
Date: Wed, 15 Feb 2023 13:40:08 +0100
Subject: [PATCH 2/3] gazebo orientation to match rviz

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
---
 nav2_bringup/worlds/world_only.model | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_bringup/worlds/world_only.model b/nav2_bringup/worlds/world_only.model
index 4c45d4e2f94..6be29a3014b 100644
--- a/nav2_bringup/worlds/world_only.model
+++ b/nav2_bringup/worlds/world_only.model
@@ -16,7 +16,7 @@
 
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <pose frame=''>0 0 10 0 1.570796 1.570796</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>

From c28c2d5e4e6ba45954c3f1eac73dd1285749e4c3 Mon Sep 17 00:00:00 2001
From: Christian Henkel <christian.henkel2@de.bosch.com>
Date: Thu, 10 Aug 2023 17:50:19 +0200
Subject: [PATCH 3/3] rotating in direction of view

---
 nav2_bringup/rviz/nav2_default_view.rviz    | 2 +-
 nav2_bringup/rviz/nav2_namespaced_view.rviz | 2 +-
 nav2_bringup/worlds/world_only.model        | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
index 755cf1f8787..d8bade77d81 100644
--- a/nav2_bringup/rviz/nav2_default_view.rviz
+++ b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -560,7 +560,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: 0
+      Angle: -1.5708
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
diff --git a/nav2_bringup/rviz/nav2_namespaced_view.rviz b/nav2_bringup/rviz/nav2_namespaced_view.rviz
index 5ab76d133a9..e95196a7fba 100644
--- a/nav2_bringup/rviz/nav2_namespaced_view.rviz
+++ b/nav2_bringup/rviz/nav2_namespaced_view.rviz
@@ -342,7 +342,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: 0
+      Angle: -1.5708
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
diff --git a/nav2_bringup/worlds/world_only.model b/nav2_bringup/worlds/world_only.model
index 6be29a3014b..aed412a8d4f 100644
--- a/nav2_bringup/worlds/world_only.model
+++ b/nav2_bringup/worlds/world_only.model
@@ -16,7 +16,7 @@
 
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>0 0 10 0 1.570796 1.570796</pose>
+        <pose frame=''>0 0 10 0 1.570796 0</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>