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Commit bd3c1ef9 authored by mike lautman's avatar mike lautman
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custom rviz config

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config/kinematics.yaml
+ 2
− 2
View file @ bd3c1ef9
panda_arm: panda_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005 kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005 kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3 kinematics_solver_attempts: 5
\ No newline at end of file \ No newline at end of file
launch/moveit.rviz
+ 101
− 127
View file @ bd3c1ef9
...@@ -3,9 +3,13 @@ Panels: ...@@ -3,9 +3,13 @@ Panels:
Help Height: 84 Help Height: 84
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: ~ Expanded:
- /Global Options1
- /MarkerArray1
- /PlanningScene1
- /PlanningScene1/Scene Robot1
Splitter Ratio: 0.742560029 Splitter Ratio: 0.742560029
Tree Height: 397 Tree Height: 949
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
...@@ -38,33 +42,17 @@ Visualization Manager: ...@@ -38,33 +42,17 @@ Visualization Manager:
Value: true Value: true
- Class: rviz/MarkerArray - Class: rviz/MarkerArray
Enabled: true Enabled: true
Marker Topic: /rviz_visual_tools Marker Topic: /moveit_visual_marker
Name: MarkerArray Name: MarkerArray
Namespaces: Namespaces:
{} Text: true
end_pose: true
start_pose: true
Queue Size: 100 Queue Size: 100
Value: true Value: true
- Class: moveit_rviz_plugin/MotionPlanning - Class: moveit_rviz_plugin/Trajectory
Enabled: true
Move Group Namespace: ""
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false Color Enabled: false
Enabled: true
Interrupt Display: false Interrupt Display: false
Links: Links:
All Links Enabled: true All Links Enabled: true
...@@ -132,34 +120,22 @@ Visualization Manager: ...@@ -132,34 +120,22 @@ Visualization Manager:
Show Trail: false Show Trail: false
Value: true Value: true
Loop Animation: false Loop Animation: false
Name: Trajectory
Robot Alpha: 0.5 Robot Alpha: 0.5
Robot Color: 150; 50; 150 Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: true Show Robot Visual: true
Show Trail: false Show Trail: false
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: /move_group/display_planned_path Trajectory Topic: /robot_traj_display
Planning Metrics: Value: true
Payload: 1 - Class: moveit_rviz_plugin/PlanningScene
Show Joint Torques: false Enabled: true
Show Manipulability: false Move Group Namespace: ""
Show Manipulability Index: false Name: PlanningScene
Show Weight Limit: false Planning Scene Topic: /move_group/monitored_planning_scene
TextHeight: 0.0799999982
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: panda_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description Robot Description: robot_description
Scene Geometry: Scene Geometry:
Scene Alpha: 0.899999976 Scene Alpha: 0.899999976
...@@ -271,10 +247,10 @@ Visualization Manager: ...@@ -271,10 +247,10 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.00999999978
Pitch: 0.369797021 Pitch: 0.470203578
Target Frame: panda_link0 Target Frame: panda_link0
Value: XYOrbit (rviz) Value: XYOrbit (rviz)
Yaw: 0.246767148 Yaw: 6.06496
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
...@@ -284,15 +260,13 @@ Window Geometry: ...@@ -284,15 +260,13 @@ Window Geometry:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
MotionPlanning: QMainWindow State: 000000ff00000000fd000000010000000000000178000004e6fc020000000dfb000000100044006900730070006c00610079007301000000420000044f000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c00730047007500690100000497000000910000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff000000180000001800000382000004e600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
collapsed: false
MotionPlanning - Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002b2000004e6fc020000000bfb000000100044006900730070006c006100790073010000004200000227000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002bd0000021d000001fb00fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000004e0000000480000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb000000000000000000000748000004e600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui: RvizVisualToolsGui:
collapsed: false collapsed: false
Trajectory - Slider:
collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 2560 Width: 1280
X: 0 X: 1280
Y: 27 Y: 27
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