diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4171744012dac16039e07b7dc220cd38e1a295d1..fda27b5c0eaafb54f870ed66bdd46e5fc213c216 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -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
diff --git a/franka_visualization/launch/franka_visualization.launch b/franka_visualization/launch/franka_visualization.launch
index 99fe15ae2236afc9a14e877a867c194618996c8a..93ab4741931e04c1079130dd6c90e498bcdba464 100644
--- a/franka_visualization/launch/franka_visualization.launch
+++ b/franka_visualization/launch/franka_visualization.launch
@@ -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>
diff --git a/franka_visualization/launch/franka_visualization.rviz b/franka_visualization/launch/franka_visualization.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..07c4f7ffe621006022132808b51562feab5a9c86
--- /dev/null
+++ b/franka_visualization/launch/franka_visualization.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