diff --git a/config/sensors_kinect_depthmap.yaml b/config/sensors_kinect_depthmap.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..68b7f06bbe4b25bd66817597bc1afe2341d40d2f
--- /dev/null
+++ b/config/sensors_kinect_depthmap.yaml
@@ -0,0 +1,10 @@
+sensors:
+ - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
+ image_topic: /head_mount_kinect/depth_registered/image_raw
+ queue_size: 5
+ near_clipping_plane_distance: 0.3
+ far_clipping_plane_distance: 5.0
+ shadow_threshold: 0.2
+ padding_scale: 4.0
+ padding_offset: 0.03
+ filtered_cloud_topic: filtered_cloud
diff --git a/config/sensors_kinect_pointcloud.yaml b/config/sensors_kinect_pointcloud.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..103344215d9a1e2a0e5095990e5601f2647767fe
--- /dev/null
+++ b/config/sensors_kinect_pointcloud.yaml
@@ -0,0 +1,8 @@
+sensors:
+ - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+ point_cloud_topic: /head_mount_kinect/depth_registered/points
+ max_range: 5.0
+ point_subsample: 1
+ padding_offset: 0.1
+ padding_scale: 1.0
+ filtered_cloud_topic: filtered_cloud
diff --git a/launch/moveit.rviz b/launch/moveit.rviz
index 6b72df95097bf3deb2d3517fd2131eb8ad3ed8e9..22b11dc363a56ffb0f5ca77eaf77d1748a564082 100644
--- a/launch/moveit.rviz
+++ b/launch/moveit.rviz
@@ -1,11 +1,13 @@
Panels:
- Class: rviz/Displays
- Help Height: 84
+ Help Height: 0
Name: Displays
Property Tree Widget:
- Expanded: ~
+ Expanded:
+ - /MotionPlanning1
+ - /MotionPlanning1/Planning Request1
Splitter Ratio: 0.742560029
- Tree Height: 1160
+ Tree Height: 220
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@@ -44,6 +46,202 @@ Visualization Manager:
{}
Queue Size: 100
Value: true
+ - Class: moveit_rviz_plugin/MotionPlanning
+ Enabled: true
+ Move Group Namespace: ""
+ MoveIt_Allow_Approximate_IK: false
+ MoveIt_Goal_Tolerance: 0
+ MoveIt_Planning_Attempts: 10
+ MoveIt_Planning_Time: 5
+ MoveIt_Use_Constraint_Aware_IK: true
+ MoveIt_Warehouse_Host: 127.0.0.1
+ MoveIt_Warehouse_Port: 33829
+ 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_leftfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link7:
+ 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: true
+ Show Trail: false
+ State Display Time: 0.05 s
+ Trail Step Size: 1
+ Trajectory Topic: /move_group/display_planned_path
+ Planning Metrics:
+ Payload: 1
+ Show Joint Torques: false
+ Show Manipulability: false
+ Show Manipulability Index: false
+ Show Weight Limit: false
+ TextHeight: 0.0799999982
+ 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: true
+ Query Start State: true
+ 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: 0.899999976
+ Scene Color: 50; 230; 50
+ Scene Display Time: 0.200000003
+ 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_leftfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link7:
+ 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
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -76,24 +274,28 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
- Pitch: 0.369797021
+ Pitch: 0.0097970739
Target Frame: panda_link0
Value: XYOrbit (rviz)
- Yaw: 0.246767148
+ Yaw: 0.201767147
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 1387
+ Height: 876
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000100000000000002b200000522fc020000000afb000000100044006900730070006c006100790073010000002800000522000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000030d0000023d0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000004bd0000008d0000004800fffffffb000000120020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb00000000000000000000031b0000052200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ MotionPlanning:
+ collapsed: false
+ MotionPlanning - Slider:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd0000000100000000000002b200000323fc020000000bfb000000100044006900730070006c006100790073010000002800000122000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000030d0000023d0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000004bd0000008d0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c00690064006500720000000000ffffffff0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000150000001fb000001f000ffffff000002a70000032300000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false
Views:
collapsed: false
- Width: 1491
- X: 1067
+ Width: 1375
+ X: 65
Y: 24
diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml
index c74d05c68465ddd1fc27ca0e6800f0a2697f6a33..616fcf01038fe9af853d4965f5e3d1eb38fd5d5b 100644
--- a/launch/sensor_manager.launch.xml
+++ b/launch/sensor_manager.launch.xml
@@ -1,6 +1,6 @@
<launch>
- <!-- This file makes it easy to include the settings for sensor managers -->
+ <!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
@@ -10,5 +10,5 @@
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="panda" />
<include file="$(find panda_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
-
+
</launch>