diff --git a/launch/moveit.rviz b/launch/moveit.rviz index c4d6ae5..9a49749 100644 --- a/launch/moveit.rviz +++ b/launch/moveit.rviz @@ -4,9 +4,10 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /MotionPlanning1 - Splitter Ratio: 0.74256 - Tree Height: 664 + - /MarkerArray1 + - /PlanningScene1/Scene Robot1 + Splitter Ratio: 0.742560029 + Tree Height: 408 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -14,6 +15,8 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 + - Class: rviz_visual_tools/RvizVisualToolsGui + Name: RvizVisualToolsGui Visualization Manager: Class: "" Displays: @@ -23,7 +26,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 @@ -35,655 +38,235 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Class: rviz/MarkerArray Enabled: true - MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Time: 5 - MoveIt_Use_Constraint_Aware_IK: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - Name: MotionPlanning - Planned Path: - Links: - base_bellow_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - double_stereo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fr_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fr_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fr_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_kinect_ir_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_kinect_rgb_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_prosilica_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_pan_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_plate_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_tilt_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_elbow_flex_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_forearm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_l_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_l_finger_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_motor_accelerometer_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_palm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_r_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_r_finger_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_shoulder_lift_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_shoulder_pan_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_upper_arm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_wrist_flex_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_wrist_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - laser_tilt_mount_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_elbow_flex_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_forearm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_l_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_l_finger_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_motor_accelerometer_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_palm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_r_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_r_finger_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_shoulder_lift_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_shoulder_pan_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_upper_arm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_wrist_flex_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_wrist_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sensor_mount_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_lift_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Loop Animation: true - Robot Alpha: 0.5 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - 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 - 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: left_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 + 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 + Color Enabled: false + Enabled: true + Interrupt Display: false + 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 + 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 Robot Description: robot_description Scene Geometry: - Scene Alpha: 1 + Scene Alpha: 0.899999976 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.200000003 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels Scene Robot: Attached Body Color: 150; 50; 150 Links: - base_bellow_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - double_stereo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fr_caster_l_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fr_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fr_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_kinect_ir_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_kinect_rgb_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_mount_prosilica_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_pan_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_plate_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_tilt_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_elbow_flex_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_forearm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_l_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_l_finger_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_motor_accelerometer_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper_palm_link: + 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 - l_gripper_r_finger_link: + panda_leftfinger: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_gripper_r_finger_tip_link: + panda_link0: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_shoulder_lift_link: + panda_link1: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_shoulder_pan_link: + panda_link2: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_upper_arm_link: + panda_link3: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_upper_arm_roll_link: + panda_link4: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_wrist_flex_link: + panda_link5: Alpha: 1 Show Axes: false Show Trail: false Value: true - l_wrist_roll_link: + panda_link6: Alpha: 1 Show Axes: false Show Trail: false Value: true - laser_tilt_mount_link: + panda_link7: Alpha: 1 Show Axes: false Show Trail: false Value: true - r_elbow_flex_link: + panda_link8: Alpha: 1 Show Axes: false Show Trail: false - Value: true - r_forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_forearm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_l_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_l_finger_tip_link: + panda_rightfinger: Alpha: 1 Show Axes: false Show Trail: false Value: true - r_gripper_motor_accelerometer_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_palm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_r_finger_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper_r_finger_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_shoulder_lift_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_shoulder_pan_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_upper_arm_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_wrist_flex_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_wrist_roll_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sensor_mount_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_lift_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 0.5 - Show Scene Robot: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 + Default Light: true 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_visual_tools/KeyTool Value: true Views: Current: Class: rviz/XYOrbit - Distance: 2.9965 + Distance: 2.82759404 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false Focal Point: - X: 0.113567 - Y: 0.10592 - Z: 2.23518e-07 + X: 0.113567002 + Y: 0.105920002 + Z: 2.23518001e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.509797 - Target Frame: /panda_link0 + Near Clip Distance: 0.00999999978 + Pitch: 0.470203578 + Target Frame: panda_link0 Value: XYOrbit (rviz) - Yaw: 5.65995 + Yaw: 6.06496 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1337 + Height: 741 Help: collapsed: false Hide Left Dock: false Hide Right Dock: false - Motion Planning: + QMainWindow State: 000000ff00000000fd00000001000000000000017800000282fc020000000efb000000100044006900730070006c006100790073010000004200000232000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000027a0000004a0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004800ffffff000003d80000028200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + RvizVisualToolsGui: + collapsed: false + Trajectory - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 1828 - X: 459 - Y: -243 + Width: 1366 + X: 1906 + Y: 1440