diff --git a/CHANGELOG.md b/CHANGELOG.md index 4192b011687df1a5952963c7079dbd0058f77c91..53f9a8bcee0686141bba08ad762acf61d729db0b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -4,7 +4,7 @@ * Integrate `franka_description` as subdirectory * Fix dependencies on libfranka - * Fix RViz config file path in `franka_visualization` + * Fix RViz config file paths * Add missing `test_depend` to `franka_hw` * Add missing CMake install rules diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch index e6cd1f33d82435c88b031a904db0391c4e2316be..3611c66c09af66b33b67f2b679f13a0822b9875f 100644 --- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch +++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch @@ -11,6 +11,6 @@ <group ns="$(arg arm_id)"> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_pose_example_controller --shutdown-timeout 2"/> - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> </group> </launch> diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch index db0d1e8585d3d338986b77673e51c67162d18fcf..b7bfc305cec5683733141f8001fc24332b6add01 100644 --- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch +++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch @@ -11,6 +11,6 @@ <group ns="$(arg arm_id)"> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_velocity_example_controller --shutdown-timeout 2"/> - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> </group> </launch> diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch index 1f12cefe5815061fe08beabec757702752aa13f8..e3a488e5f1a556736fc75b5107c9642f4681d0d6 100644 --- a/franka_example_controllers/launch/joint_impedance_example_controller.launch +++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch @@ -11,6 +11,6 @@ <group ns="$(arg arm_id)"> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_impedance_example_controller --shutdown-timeout 2"/> - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> </group> </launch> diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch index b22550d8e872f2fe5c4053653e662b1e3e49eee2..2cab22d838a8bb26535c0d05b7120717e9fe88fb 100644 --- a/franka_example_controllers/launch/joint_position_example_controller.launch +++ b/franka_example_controllers/launch/joint_position_example_controller.launch @@ -11,6 +11,6 @@ <group ns="$(arg arm_id)"> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_position_example_controller --shutdown-timeout 2"/> - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> </group> </launch> diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch index 16a9441916720b392e9db94dcfb68c4412ff574d..ed8b84b0d2f7ad8ce7bf5464d842fde1e0064b7a 100644 --- a/franka_example_controllers/launch/joint_velocity_example_controller.launch +++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch @@ -11,6 +11,6 @@ <group ns="$(arg arm_id)"> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_velocity_example_controller --shutdown-timeout 2"/> - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> </group> </launch> diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch index 6bf195388adbaaad6e41f41d2a2852ebe3fb5875..1f1b2405f9e8914df00c4dce50cf47ac625bba52 100644 --- a/franka_example_controllers/launch/model_example_controller.launch +++ b/franka_example_controllers/launch/model_example_controller.launch @@ -11,6 +11,6 @@ <group ns="$(arg arm_id)"> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="model_example_controller --shutdown-timeout 2"/> - <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> + <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> </group> </launch> diff --git a/franka_example_controllers/launch/robot.rviz b/franka_example_controllers/launch/robot.rviz new file mode 100644 index 0000000000000000000000000000000000000000..07c4f7ffe621006022132808b51562feab5a9c86 --- /dev/null +++ b/franka_example_controllers/launch/robot.rviz @@ -0,0 +1,187 @@ +Panels: + - Class: rviz/Displays + Help Height: 89 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 746 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +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 + - 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_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 + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.39362764 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.139062241 + Y: 0.151414081 + Z: 0.0437288694 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.485397696 + Target Frame: <Fixed Frame> + Value: Orbit (rviz) + Yaw: 0.500398219 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1059 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000384fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000384000000f300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000384fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004100000384000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e0000027600fffffffb0000000800540069006d00650100000000000004500000000000000000000004f90000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1918 + X: 1920 + Y: 19