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Commit 896fd4aa authored by Johannes Mey's avatar Johannes Mey
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update to latest ROS version

parent 774291ef
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config/moveit_with_camera.rviz 0 → 100644
+ 735
− 0
View file @ 896fd4aa
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /Tag Detection Camera1
Splitter Ratio: 0.5
Tree Height: 357
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 822
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: false
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: panda_arm
Query Goal State: false
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
- Class: rviz/Camera
Enabled: false
Image Rendering: background and overlay
Image Topic: ""
Name: Camera
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
Visibility:
"": true
Camera Image: true
Grid: true
Image: true
MotionPlanning: true
PlanningScene: true
RobotModel: true
Tag Detection Camera: true
Value: true
Zoom Factor: 1
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: moveit_rviz_plugin/PlanningScene
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7_sc:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /tag_detections_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Tag Detection Camera
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /usb_cam/image_color
Max Value: 1
Median window: 5
Min Value: 0
Name: Camera Image
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /usb_cam/image_rect
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /usb_cam/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: panda_link0
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.9689866304397583
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.06553632020950317
Y: 0.18562549352645874
Z: 0.22021731734275818
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.2799999713897705
Target Frame: panda_link0
Yaw: 6.244957447052002
Saved: ~
Window Geometry:
Camera:
collapsed: false
Camera Image:
collapsed: false
Displays:
collapsed: false
Height: 1043
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd000000020000000000000310000003b9fc020000000cfb000000100044006900730070006c006100790073000000003d000003b9000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000003d000003b9000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000001600fffffffb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067000000010c000001ce0000017d00fffffffb000000100044006900730070006c006100790073000000003d000003b9000000c900fffffffb0000000c00430061006d006500720061000000028f000001670000000000000000fb0000000a0049006d0061006700650000000178000000840000001600fffffffb0000000a0049006d0061006700650300000dd8000003610000037600000209fb0000000a0049006d0061006700650300000e310000038b00000310000001d40000000100000303000003b9fc0200000002fb0000001800430061006d00650072006100200049006d0061006700650200000d09000002ab00000280000001e0fb0000002800540061006700200044006500740065006300740069006f006e002000430061006d0065007200610000000214000001e20000001600ffffff00000780000003b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Tag Detection Camera:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 2560
Y: 360
launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-grey.launch
+ 2
− 2
View file @ 896fd4aa
<launch>
<arg name="rviz_config" default="$(find ccf_immersive_sorting)/config/moveit_with_camera.rviz" />
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
......@@ -6,8 +7,7 @@
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<include file="$(find ccf)/launch/robot_setup.launch" pass_all_args="true">
<arg name="load_gripper" value="true"/>
</include>
......
launch/object-localization/object_locator.launch deleted 100644 → 0
+ 0
− 3
View file @ 774291ef
<launch>
<node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator"/>
</launch>
src/moveit_sorting_controller.cpp
+ 4
− 0
View file @ 896fd4aa
......@@ -58,6 +58,10 @@ int main(int argc, char** argv)
ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
ros::Timer timer = n.createTimer(ros::Duration(3), [&controller](const ros::TimerEvent& event) {
controller.sendScene();
}); // send a scene every three seconds
controller.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") + "/con"
"fig/"
"conf"
......
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