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Commit de68546e authored by Florian Walch's avatar Florian Walch
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franka_visualization: Fix path to RViz config file

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......@@ -2,8 +2,9 @@
## 0.1.1 - UNRELEASED
* Integrate franka_description as subdirectory
* Integrate `franka_description` as subdirectory
* Fix dependencies on libfranka
* Fix RViz config file path in `franka_visualization`
## 0.1.0 - 2017-09-15
......
......@@ -3,19 +3,22 @@
<launch>
<arg name="load_gripper" default="true" />
<arg name="robot_ip" default="robot.franka.de" />
<param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm.urdf.xacro" />
<param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<node name="franka_joint_state_publisher" pkg="franka_visualization" type="franka_joint_state_publisher" output="screen">
<rosparam command="load" file="$(find franka_visualization)/param/robot_read_settings.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
</node>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
<param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" />
<rosparam param="source_list">[franka_joint_state_publisher/joint_states] </rosparam>
<param if="$(arg load_gripper)" name="publish_default_positions" value="true" />
</node>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<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_visualization)/launch/franka_visualization.rviz"/>
</launch>
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
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