From de68546e766fafb66baf60329c73f89f4ed99442 Mon Sep 17 00:00:00 2001 From: Florian Walch <florian.walch@franka.de> Date: Thu, 5 Oct 2017 17:30:21 +0200 Subject: [PATCH] franka_visualization: Fix path to RViz config file --- CHANGELOG.md | 3 +- .../launch/franka_visualization.launch | 9 +- .../launch/franka_visualization.rviz | 187 ++++++++++++++++++ 3 files changed, 195 insertions(+), 4 deletions(-) create mode 100644 franka_visualization/launch/franka_visualization.rviz diff --git a/CHANGELOG.md b/CHANGELOG.md index 4171744..fda27b5 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 99fe15a..93ab474 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 0000000..07c4f7f --- /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 -- GitLab