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CeTI
ROS
ROS Packages
Forked MoveIt Packages
panda_moveit_config
Commits
68ed8b4c
Commit
68ed8b4c
authored
7 years ago
by
mike
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better default rviz config for tutorials
parent
0ef9a15f
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Changes
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4 changed files
launch/demo.launch
+4
-3
4 additions, 3 deletions
launch/demo.launch
launch/moveit.rviz
+11
-14
11 additions, 14 deletions
launch/moveit.rviz
launch/moveit_empty.rviz
+99
-0
99 additions, 0 deletions
launch/moveit_empty.rviz
launch/moveit_rviz.launch
+5
-4
5 additions, 4 deletions
launch/moveit_rviz.launch
with
119 additions
and
21 deletions
launch/demo.launch
+
4
−
3
View file @
68ed8b4c
...
...
@@ -16,6 +16,7 @@
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="rviz_tutorial" default="false" />
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
...
...
@@ -24,7 +25,7 @@
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
...
...
@@ -43,9 +44,9 @@
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz
and load the default config to see the state of the move_group node
-->
<!-- Run Rviz -->
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch">
<arg name="
config" value="true
"/>
<arg name="
rviz_tutorial" value="$(arg rviz_tutorial)
"/>
<arg name="debug" value="$(arg debug)"/>
</include>
...
...
This diff is collapsed.
Click to expand it.
launch/moveit.rviz
+
11
−
14
View file @
68ed8b4c
Panels:
- Class: rviz/Displays
Help Height:
0
Help Height:
84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Request1
Expanded: ~
Splitter Ratio: 0.742560029
Tree Height:
220
Tree Height:
397
- Class: rviz/Help
Name: Help
- Class: rviz/Views
...
...
@@ -49,7 +47,6 @@ Visualization Manager:
- 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
...
...
@@ -158,7 +155,7 @@ Visualization Manager:
Joint Violation Color: 255; 0; 255
Planning Group: panda_arm
Query Goal State: true
Query Start State:
tru
e
Query Start State:
fals
e
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
...
...
@@ -274,15 +271,15 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.
00
97970
739
Pitch: 0.
36
97970
21
Target Frame: panda_link0
Value: XYOrbit (rviz)
Yaw: 0.2
01
76714
7
Yaw: 0.2
46
76714
8
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height:
876
Height:
1353
Help:
collapsed: false
Hide Left Dock: false
...
...
@@ -291,11 +288,11 @@ Window Geometry:
collapsed: false
MotionPlanning - Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002b200000
323
fc020000000bfb000000100044006900730070006c006100790073010000002
8
00000
1
22000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720
0000
00000
fffffff
f000000000000
0000
fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000
30
d000002
3
d00000
00000000000
fb00000024005200760069007a00560069007300750061006c0054006f006f006c00730047007500690
0
000004
bd
0000008
d
0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c00690064006500720000000000
ffffffff0000004800ffffff
fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000
150
000001fb00000
1f
000
ffffff000002a7
00000
323
00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000002b200000
4e6
fc020000000bfb000000100044006900730070006c00610079007301000000
4
20000022
7
000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720
1
00000
26
f000000
48
000000
4800ffffff
fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000
2b
d000002
1
d00000
1fb00ffffff
fb00000024005200760069007a00560069007300750061006c0054006f006f006c00730047007500690
1
000004
e0
000000
4
80000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c00690064006500720
1
00000
2df
0000
00480000000000000000
fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000
32d
000001fb00000000
0000000000000748
00000
4e6
00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false
Views:
collapsed: false
Width:
1375
X:
65
Y: 2
4
Width:
2560
X:
0
Y: 2
7
This diff is collapsed.
Click to expand it.
launch/moveit_empty.rviz
0 → 100644
+
99
−
0
View file @
68ed8b4c
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.742560029
Tree Height: 1100
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_visual_tools/RvizVisualToolsGui
Name: RvizVisualToolsGui
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
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
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /rviz_visual_tools
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
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
- Class: rviz_visual_tools/KeyTool
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.82759404
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.113567002
Y: 0.105920002
Z: 2.23518001e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.369797021
Target Frame: panda_link0
Value: XYOrbit (rviz)
Yaw: 0.246767148
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1353
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000001000000000000016a000004e6fc020000000afb000000100044006900730070006c0061007900730100000042000004e6000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000030d0000023d0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000004bd0000008d0000004800fffffffb000000120020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb000000000000000000000463000004e600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false
Views:
collapsed: false
Width: 1491
X: 1067
Y: 27
This diff is collapsed.
Click to expand it.
launch/moveit_rviz.launch
+
5
−
4
View file @
68ed8b4c
<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="
config
" default="false" />
<arg unless="$(arg
config
)" name="command_args" value="" />
<arg if="$(arg
config
)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit.rviz" />
<arg name="
rviz_tutorial
" default="false" />
<arg unless="$(arg
rviz_tutorial
)" name="command_args" value="
-d $(find panda_moveit_config)/launch/moveit.rviz
" />
<arg if="$(arg
rviz_tutorial
)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit
_empty
.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
...
...
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