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Commit e4e41ca9 authored by Johannes Mey's avatar Johannes Mey
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update rviz config to show planning tools

parent fa933458
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Panels: Panels:
- Class: rviz/Displays - Class: rviz/Displays
Help Height: 84 Help Height: 70
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /MarkerArray1 - /MotionPlanning1
- /PlanningScene1/Scene Robot1 Splitter Ratio: 0.7425600290298462
Splitter Ratio: 0.742560029 Tree Height: 70
Tree Height: 408
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
...@@ -17,6 +16,10 @@ Panels: ...@@ -17,6 +16,10 @@ Panels:
Splitter Ratio: 0.5 Splitter Ratio: 0.5
- Class: rviz_visual_tools/RvizVisualToolsGui - Class: rviz_visual_tools/RvizVisualToolsGui
Name: RvizVisualToolsGui Name: RvizVisualToolsGui
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
...@@ -38,21 +41,33 @@ Visualization Manager: ...@@ -38,21 +41,33 @@ Visualization Manager:
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Class: rviz/MarkerArray - Class: moveit_rviz_plugin/MotionPlanning
Acceleration_Scaling_Factor: 1
Enabled: true Enabled: true
Marker Topic: /rviz_visual_tools Move Group Namespace: ""
Name: MarkerArray MoveIt_Allow_Approximate_IK: false
Namespaces: MoveIt_Allow_External_Program: false
Cylinder: true MoveIt_Allow_Replanning: false
Sphere: true MoveIt_Allow_Sensor_Positioning: false
Text: true MoveIt_Goal_Tolerance: 0
goal: true MoveIt_Planning_Attempts: 10
start: true MoveIt_Planning_Time: 5
Queue Size: 100 MoveIt_Use_Cartesian_Path: false
Value: true MoveIt_Use_Constraint_Aware_IK: true
- Class: moveit_rviz_plugin/Trajectory 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
...@@ -119,23 +134,39 @@ Visualization Manager: ...@@ -119,23 +134,39 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
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: move_group/display_planned_path
Value: true Planning Metrics:
- Class: moveit_rviz_plugin/PlanningScene Payload: 1
Enabled: true Show Joint Torques: false
Move Group Namespace: "" Show Manipulability: false
Name: PlanningScene Show Manipulability Index: false
Planning Scene Topic: /move_group/monitored_planning_scene Show Weight Limit: false
TextHeight: 0.07999999821186066
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
...@@ -211,10 +242,15 @@ Visualization Manager: ...@@ -211,10 +242,15 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
Robot Alpha: 1 world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: true Show Robot Visual: true
Value: true Value: true
Velocity_Scaling_Factor: 1
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
...@@ -255,18 +291,20 @@ Visualization Manager: ...@@ -255,18 +291,20 @@ Visualization Manager:
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 741 Height: 827
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000001000000000000017800000282fc020000000efb000000100044006900730070006c006100790073010000004200000232000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000027a0000004a0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004800ffffff000003d80000028200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 MotionPlanning:
RvizVisualToolsGui:
collapsed: false collapsed: false
Trajectory - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000002e5fc0200000008fb000000100044006900730070006c006100790073010000003b000000c7000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001080000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000014d0000018e0000018300fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000002e10000003f0000003f00ffffff00000256000002e500000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1366 Width: 1278
X: 1906 X: 1280
Y: 1440 Y: 18
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