update rviz config to show planning tools

launch/moveit.rviz

 Panels:
   - Class: rviz/Displays
-    Help Height: 84
+    Help Height: 70
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /MarkerArray1
-        - /PlanningScene1/Scene Robot1
-      Splitter Ratio: 0.742560029
-    Tree Height: 408
+        - /MotionPlanning1
+      Splitter Ratio: 0.7425600290298462
+    Tree Height: 70
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -17,6 +16,10 @@ Panels:
     Splitter Ratio: 0.5
   - Class: rviz_visual_tools/RvizVisualToolsGui
     Name: RvizVisualToolsGui
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -38,21 +41,33 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: rviz/MarkerArray
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Acceleration_Scaling_Factor: 1
       Enabled: true
-      Marker Topic: /rviz_visual_tools
-      Name: MarkerArray
-      Namespaces:
-        Cylinder: true
-        Sphere: true
-        Text: true
-        goal: true
-        start: true
-      Queue Size: 100
-      Value: true
-    - Class: moveit_rviz_plugin/Trajectory
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      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
-      Enabled: true
         Interrupt Display: false
         Links:
           All Links Enabled: true
@@ -119,23 +134,39 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
         Loop Animation: false
-      Name: Trajectory
         Robot Alpha: 0.5
         Robot Color: 150; 50; 150
-      Robot Description: robot_description
         Show Robot Collision: false
         Show Robot Visual: true
         Show Trail: false
         State Display Time: 0.05 s
         Trail Step Size: 1
-      Trajectory Topic: /move_group/display_planned_path
-      Value: true
-    - Class: moveit_rviz_plugin/PlanningScene
-      Enabled: true
-      Move Group Namespace: ""
-      Name: PlanningScene
-      Planning Scene Topic: /move_group/monitored_planning_scene
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        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
       Scene Geometry:
         Scene Alpha: 0.899999976
@@ -211,10 +242,15 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-        Robot Alpha: 1
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 0.5
         Show Robot Collision: false
         Show Robot Visual: true
       Value: true
+      Velocity_Scaling_Factor: 1
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -255,18 +291,20 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 741
+  Height: 827
   Help:
     collapsed: false
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000001000000000000017800000282fc020000000efb000000100044006900730070006c006100790073010000004200000232000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000027a0000004a0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004800ffffff000003d80000028200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  RvizVisualToolsGui:
+  MotionPlanning:
     collapsed: false
-  Trajectory - Trajectory Slider:
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a2000002e5fc0200000008fb000000100044006900730070006c006100790073010000003b000000c7000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001080000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000014d0000018e0000018300fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000002e10000003f0000003f00ffffff00000256000002e500000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RvizVisualToolsGui:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1366
-  X: 1906
-  Y: 1440
+  Width: 1278
+  X: 1280
+  Y: 18