From 68ed8b4cca7bad5abc2d92e8734be89157d688c5 Mon Sep 17 00:00:00 2001
From: mike <mikeblautman@gmail.com>
Date: Tue, 1 May 2018 16:39:42 -0600
Subject: [PATCH] better default rviz config for tutorials
---
launch/demo.launch | 7 +--
launch/moveit.rviz | 25 +++++-----
launch/moveit_empty.rviz | 99 +++++++++++++++++++++++++++++++++++++++
launch/moveit_rviz.launch | 9 ++--
4 files changed, 119 insertions(+), 21 deletions(-)
create mode 100644 launch/moveit_empty.rviz
diff --git a/launch/demo.launch b/launch/demo.launch
index 1faff8e..7ed51e4 100644
--- a/launch/demo.launch
+++ b/launch/demo.launch
@@ -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>
diff --git a/launch/moveit.rviz b/launch/moveit.rviz
index 22b11dc..4e7f83a 100644
--- a/launch/moveit.rviz
+++ b/launch/moveit.rviz
@@ -1,13 +1,11 @@
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: true
+ Query Start State: false
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: 0.0097970739
+ Pitch: 0.369797021
Target Frame: panda_link0
Value: XYOrbit (rviz)
- Yaw: 0.201767147
+ Yaw: 0.246767148
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: 000000ff00000000fd0000000100000000000002b200000323fc020000000bfb000000100044006900730070006c006100790073010000002800000122000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000030d0000023d0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000004bd0000008d0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c00690064006500720000000000ffffffff0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000150000001fb000001f000ffffff000002a70000032300000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000100000000000002b2000004e6fc020000000bfb000000100044006900730070006c006100790073010000004200000227000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002bd0000021d000001fb00fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000004e0000000480000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb000000000000000000000748000004e600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false
Views:
collapsed: false
- Width: 1375
- X: 65
- Y: 24
+ Width: 2560
+ X: 0
+ Y: 27
diff --git a/launch/moveit_empty.rviz b/launch/moveit_empty.rviz
new file mode 100644
index 0000000..0b6a7f4
--- /dev/null
+++ b/launch/moveit_empty.rviz
@@ -0,0 +1,99 @@
+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
diff --git a/launch/moveit_rviz.launch b/launch/moveit_rviz.launch
index 49ffa33..ff03ed4 100644
--- a/launch/moveit_rviz.launch
+++ b/launch/moveit_rviz.launch
@@ -1,13 +1,14 @@
<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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