From 6e9f3be4083ad8e62e3c6d035a87de95db40fff7 Mon Sep 17 00:00:00 2001
From: Rick Staa <rick.staa@outlook.com>
Date: Wed, 25 Aug 2021 15:40:37 +0200
Subject: [PATCH] Add argument rviz_tutorial
This argument is needed for the [quickstart-in-rviz-tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
---
launch/demo.launch | 3 +
launch/moveit_empty.rviz | 99 +++++++++++++
launch/moveit_rviz.launch | 10 +-
launch/moveit_scene.rviz | 290 ++++++++++++++++++++++++++++++++++++++
4 files changed, 399 insertions(+), 3 deletions(-)
create mode 100644 launch/moveit_empty.rviz
create mode 100644 launch/moveit_scene.rviz
diff --git a/launch/demo.launch b/launch/demo.launch
index b545a3e..05eb309 100644
--- a/launch/demo.launch
+++ b/launch/demo.launch
@@ -25,6 +25,8 @@
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
+ <!-- Use rviz config for MoveIt tutorial -->
+ <arg name="rviz_tutorial" default="false" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0" />
@@ -61,6 +63,7 @@
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+ <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
diff --git a/launch/moveit_empty.rviz b/launch/moveit_empty.rviz
new file mode 100644
index 0000000..9014d11
--- /dev/null
+++ b/launch/moveit_empty.rviz
@@ -0,0 +1,99 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 84
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 613
+ - Class: rviz/Help
+ Name: Help
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ 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/Orbit
+ Distance: 2
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.75
+ Focal Point:
+ X: -0.10000000149011612
+ Y: 0.25
+ Z: 0.30000001192092896
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5
+ Target Frame: panda_link0
+ Yaw: -0.6232355833053589
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 848
+ Help:
+ collapsed: false
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc020000000afb000000100044006900730070006c006100790073010000003d000002f6000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000002f2000000410000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff000000000000000000000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Views:
+ collapsed: false
+ Width: 1291
+ X: 444
+ Y: 25
diff --git a/launch/moveit_rviz.launch b/launch/moveit_rviz.launch
index a4605c0..89e0db9 100644
--- a/launch/moveit_rviz.launch
+++ b/launch/moveit_rviz.launch
@@ -4,9 +4,13 @@
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
- <arg name="rviz_config" default="" />
- <arg if="$(eval rviz_config=='')" name="command_args" value="" />
- <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+ <!--Retrieve the right rviz config file-->
+ <arg name="rviz_tutorial" default="false" />
+ <arg name="rviz_config" default="$(dirname)/moveit.rviz" />
+
+ <arg if="$(eval rviz_config=='')" name="command_args" value="" />
+ <arg if="$(eval rviz_config!='' and not rviz_tutorial)" name="command_args" value="-d $(arg rviz_config)" />
+ <arg if="$(eval rviz_tutorial)" name="command_args" value="-d $(dirname)/moveit_empty.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
diff --git a/launch/moveit_scene.rviz b/launch/moveit_scene.rviz
new file mode 100644
index 0000000..d10732c
--- /dev/null
+++ b/launch/moveit_scene.rviz
@@ -0,0 +1,290 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 84
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 542
+ - Class: rviz/Help
+ Name: Help
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_visual_tools/RvizVisualToolsGui
+ Name: RvizVisualToolsGui
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ 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
+ - 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_hand_coarse:
+ 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
+ Value: true
+ panda_rightfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_tool:
+ 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: 3x
+ 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: 0.9
+ Scene Color: 50; 230; 50
+ Scene Display Time: 0.2
+ Show Scene Geometry: true
+ Voxel Coloring: Z-Axis
+ Voxel Rendering: Occupied Voxels
+ Scene Robot:
+ Attached Body Color: 150; 50; 150
+ 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_hand_coarse:
+ 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
+ Value: true
+ panda_rightfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_tool:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ 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/Orbit
+ Distance: 2
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.75
+ Focal Point:
+ X: -0.10000000149011612
+ Y: 0.25
+ Z: 0.30000001192092896
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5
+ Target Frame: panda_link0
+ Yaw: -0.6232355833053589
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 848
+ Help:
+ collapsed: false
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000009fb000000100044006900730070006c006100790073010000003d000002af000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000002f2000000410000004100ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RvizVisualToolsGui:
+ collapsed: false
+ Trajectory - Slider:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1291
+ X: 449
+ Y: 25
--
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