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Nikhil Ambardar
panda_moveit_config
Commits
e4e41ca9
Commit
e4e41ca9
authored
5 years ago
by
Johannes Mey
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Plain Diff
update rviz config to show planning tools
parent
fa933458
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launch/moveit.rviz
+147
-109
147 additions, 109 deletions
launch/moveit.rviz
with
147 additions
and
109 deletions
launch/moveit.rviz
+
147
−
109
View file @
e4e41ca9
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: 1
366
Width: 1
278
X: 1
906
X: 1
280
Y: 1
440
Y: 1
8
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