diff --git a/launch/moveit.rviz b/launch/moveit.rviz
index f53ac9aa29a3089057863d8bd161fa12cce3e82f..b61fa31f934576d5e4343cf12ca56f6c4076f891 100644
--- a/launch/moveit.rviz
+++ b/launch/moveit.rviz
@@ -5,8 +5,10 @@ Panels:
Property Tree Widget:
Expanded:
- /MotionPlanning1
- Splitter Ratio: 0.74256
- Tree Height: 664
+ - /MotionPlanning1/Planning Request1
+ - /MotionPlanning1/Planned Path1
+ Splitter Ratio: 0.742560029
+ Tree Height: 464
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@@ -14,6 +16,8 @@ Panels:
- /Current View1
Name: Views
Splitter Ratio: 0.5
+ - Class: rviz_visual_tools/RvizVisualToolsGui
+ Name: RvizVisualToolsGui
Visualization Manager:
Class: ""
Displays:
@@ -23,7 +27,7 @@ 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
@@ -37,300 +41,99 @@ Visualization Manager:
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
+ Move Group Namespace: ""
MoveIt_Goal_Tolerance: 0
+ MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
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
+ Interrupt Display: false
Links:
- base_bellow_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
- base_footprint:
+ panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- base_link:
+ panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_l_wheel_link:
+ panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_r_wheel_link:
+ panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_rotation_link:
+ panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_l_wheel_link:
+ panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_r_wheel_link:
+ panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_rotation_link:
+ panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- double_stereo_link:
+ panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- fl_caster_l_wheel_link:
+ panda_link8:
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:
+ panda_rightfinger:
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
+ Loop Animation: false
Robot Alpha: 0.5
+ Robot Color: 150; 50; 150
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
Planning Metrics:
Payload: 1
@@ -338,352 +141,161 @@ Visualization Manager:
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
+ TextHeight: 0.0799999982
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
+ Planning Group: panda_arm
+ Query Goal State: false
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
+ Planning Scene Topic: /move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
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:
+ 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
- base_footprint:
+ panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- base_link:
+ panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_l_wheel_link:
+ panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_r_wheel_link:
+ panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_rotation_link:
+ panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_l_wheel_link:
+ panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_r_wheel_link:
+ panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_rotation_link:
+ panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- double_stereo_link:
+ panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- fl_caster_l_wheel_link:
+ panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- fl_caster_r_wheel_link:
+ panda_rightfinger:
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
- Robot Alpha: 0.5
- Show Scene Robot: true
+ Robot Alpha: 1
+ Show Robot Collision: false
+ Show Robot Visual: true
+ 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
- Fixed Frame: /panda_link0
+ 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: 2.56152344
+ 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: 0.0297971833
+ Target Frame: panda_link0
Value: XYOrbit (rviz)
- Yaw: 5.65995
+ Yaw: 5.86995268
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 1337
+ Height: 1416
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
- Motion Planning:
+ MotionPlanning:
+ collapsed: false
+ MotionPlanning - Slider:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd0000000100000000000002b20000053ffc0200000008fb000000100044006900730070006c00610079007301000000280000026a000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002980000027e000001f000fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000051c0000004b0000004800ffffff000007070000053f00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RvizVisualToolsGui:
collapsed: false
- QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
- Width: 1828
- X: 459
- Y: -243
+ Width: 2495
+ X: 2625
+ Y: 24