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Commit 410069f8 authored by Johannes Mey's avatar Johannes Mey
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use rviz config with planning interface

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with 158 additions and 121 deletions
launch/moveit.rviz
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− 121
View file @ 410069f8
......@@ -4,10 +4,9 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /MarkerArray1
- /PlanningScene1/Scene Robot1
Splitter Ratio: 0.742560029
Tree Height: 408
- /MotionPlanning1
Splitter Ratio: 0.7425600290298462
Tree Height: 633
- Class: rviz/Help
Name: Help
- Class: rviz/Views
......@@ -17,6 +16,10 @@ Panels:
Splitter Ratio: 0.5
- Class: rviz_visual_tools/RvizVisualToolsGui
Name: RvizVisualToolsGui
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
......@@ -26,7 +29,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
......@@ -38,109 +41,137 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rviz_visual_tools
Name: MarkerArray
Namespaces:
Cylinder: true
Sphere: true
Text: true
goal: true
start: true
Queue Size: 100
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
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
Name: Trajectory
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Robot Description: robot_description
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
Value: true
- Class: moveit_rviz_plugin/PlanningScene
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: /move_group/monitored_planning_scene
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
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
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: true
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: 0.07999999821186066
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: hand
Query Goal State: true
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: 0.899999976
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.200000003
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
......@@ -211,10 +242,15 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 1
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 1
Enabled: true
Global Options:
Background Color: 48; 48; 48
......@@ -227,46 +263,47 @@ Visualization Manager:
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz_visual_tools/KeyTool
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.82759404
Distance: 2.996500015258789
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.113567002
Y: 0.105920002
Z: 2.23518001e-07
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-7
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.470203578
Near Clip Distance: 0.009999999776482582
Pitch: 0.5097969770431519
Target Frame: panda_link0
Value: XYOrbit (rviz)
Yaw: 6.06496
Yaw: 5.659949779510498
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 741
Height: 1404
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000001000000000000017800000282fc020000000efb000000100044006900730070006c006100790073010000004200000232000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000027a0000004a0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004800ffffff000003d80000028200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
MotionPlanning:
collapsed: false
Trajectory - Trajectory Slider:
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a200000526fc0200000008fb000000100044006900730070006c006100790073010000003b00000308000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000003490000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000038e0000018e0000018300fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000005220000003f0000003f00ffffff000002560000052600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false
Views:
collapsed: false
Width: 1366
X: 1906
Y: 1440
Width: 1278
X: 0
Y: 18
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