better default rviz config for tutorials

launch/demo.launch

@@ -16,6 +16,7 @@
   It also provides a GUI to move the simulated robot around "manually".
   This corresponds to moving around the real robot without the use of MoveIt.
   -->
+  <arg name="rviz_tutorial" default="false" />
   <arg name="use_gui" default="false" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
@@ -24,7 +25,7 @@
   </include>
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+
 
   <!-- We do not have a robot connected, so publish fake joint states -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
@@ -43,9 +44,9 @@
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <!-- Run Rviz -->
   <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+    <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

launch/moveit.rviz

 Panels:
   - Class: rviz/Displays
-    Help Height: 0
+    Help Height: 84
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /MotionPlanning1
-        - /MotionPlanning1/Planning Request1
+      Expanded: ~
       Splitter Ratio: 0.742560029
-    Tree Height: 220
+    Tree Height: 397
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -49,7 +47,6 @@ Visualization Manager:
     - Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: false
       MoveIt_Goal_Tolerance: 0
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
@@ -158,7 +155,7 @@ Visualization Manager:
         Joint Violation Color: 255; 0; 255
         Planning Group: panda_arm
         Query Goal State: true
-        Query Start State: true
+        Query Start State: false
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -274,15 +271,15 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.0097970739
+      Pitch: 0.369797021
       Target Frame: panda_link0
       Value: XYOrbit (rviz)
-      Yaw: 0.201767147
+      Yaw: 0.246767148
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 876
+  Height: 1353
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -291,11 +288,11 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002b200000323fc020000000bfb000000100044006900730070006c006100790073010000002800000122000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000030d0000023d0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000004bd0000008d0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c00690064006500720000000000ffffffff0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000150000001fb000001f000ffffff000002a70000032300000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000002b2000004e6fc020000000bfb000000100044006900730070006c006100790073010000004200000227000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002bd0000021d000001fb00fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000004e0000000480000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb000000000000000000000748000004e600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   RvizVisualToolsGui:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1375
-  X: 65
-  Y: 24
+  Width: 2560
+  X: 0
+  Y: 27

launch/moveit_empty.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.742560029
+    Tree Height: 1100
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_visual_tools/RvizVisualToolsGui
+    Name: RvizVisualToolsGui
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /rviz_visual_tools
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      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: 2.82759404
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        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: 0.00999999978
+      Pitch: 0.369797021
+      Target Frame: panda_link0
+      Value: XYOrbit (rviz)
+      Yaw: 0.246767148
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1353
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000001000000000000016a000004e6fc020000000afb000000100044006900730070006c0061007900730100000042000004e6000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000030d0000023d0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000004bd0000008d0000004800fffffffb000000120020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb000000000000000000000463000004e600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RvizVisualToolsGui:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1491
+  X: 1067
+  Y: 27

launch/moveit_rviz.launch

 <launch>
 
+
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="config" default="false" />
-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit.rviz" />
-  
+  <arg name="rviz_tutorial" default="false" />
+  <arg unless="$(arg rviz_tutorial)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit.rviz" />
+  <arg     if="$(arg rviz_tutorial)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit_empty.rviz" />
+
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
 	args="$(arg command_args)" output="screen">
     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>