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Panda Moveit Config
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Guillaume Duret
Panda Moveit Config
Commits
dcd0b847
Commit
dcd0b847
authored
7 years ago
by
mike
Browse files
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adding marker array to rviz
parent
fe1ff784
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launch/moveit.rviz
+103
-491
103 additions, 491 deletions
launch/moveit.rviz
with
103 additions
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491 deletions
launch/moveit.rviz
+
103
−
491
View file @
dcd0b847
...
@@ -5,8 +5,10 @@ Panels:
...
@@ -5,8 +5,10 @@ Panels:
Property Tree Widget:
Property Tree Widget:
Expanded:
Expanded:
- /MotionPlanning1
- /MotionPlanning1
Splitter Ratio: 0.74256
- /MotionPlanning1/Planning Request1
Tree Height: 664
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029
Tree Height: 464
- Class: rviz/Help
- Class: rviz/Help
Name: Help
Name: Help
- Class: rviz/Views
- Class: rviz/Views
...
@@ -14,6 +16,8 @@ Panels:
...
@@ -14,6 +16,8 @@ Panels:
- /Current View1
- /Current View1
Name: Views
Name: Views
Splitter Ratio: 0.5
Splitter Ratio: 0.5
- Class: rviz_visual_tools/RvizVisualToolsGui
Name: RvizVisualToolsGui
Visualization Manager:
Visualization Manager:
Class: ""
Class: ""
Displays:
Displays:
...
@@ -23,7 +27,7 @@ Visualization Manager:
...
@@ -23,7 +27,7 @@ Visualization Manager:
Color: 160; 160; 164
Color: 160; 160; 164
Enabled: true
Enabled: true
Line Style:
Line Style:
Line Width: 0.03
Line Width: 0.0
29999999
3
Value: Lines
Value: Lines
Name: Grid
Name: Grid
Normal Cell Count: 0
Normal Cell Count: 0
...
@@ -37,300 +41,99 @@ Visualization Manager:
...
@@ -37,300 +41,99 @@ Visualization Manager:
Value: true
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
- Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Enabled: true
Move Group Namespace: ""
MoveIt_Goal_Tolerance: 0
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Planning_Time: 5
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Name: MotionPlanning
Planned Path:
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
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
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
base_footprint
:
panda_leftfinger
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
base
_link:
panda
_link
0
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
bl_caster_l_wheel
_link:
panda
_link
1
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
bl_caster_r_wheel
_link:
panda
_link
2
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
bl_caster_rotation
_link:
panda
_link
3
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
br_caster_l_wheel
_link:
panda
_link
4
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
br_caster_r_wheel
_link:
panda
_link
5
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
br_caster_rotation
_link:
panda
_link
6
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
double_stereo
_link:
panda
_link
7
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
fl_caster_l_wheel
_link:
panda
_link
8
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
panda_rightfinger:
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
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
head_mount_prosilica_link:
Loop Animation: false
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
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Collision: false
Show Robot Visual: true
Show Robot Visual: true
Show Trail: false
Show Trail: false
State Display Time: 0.05 s
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Trajectory Topic: move_group/display_planned_path
Planning Metrics:
Planning Metrics:
Payload: 1
Payload: 1
...
@@ -338,352 +141,161 @@ Visualization Manager:
...
@@ -338,352 +141,161 @@ Visualization Manager:
Show Manipulability: false
Show Manipulability: false
Show Manipulability Index: false
Show Manipulability Index: false
Show Weight Limit: false
Show Weight Limit: false
TextHeight: 0.0799999982
Planning Request:
Planning Request:
Colliding Link Color: 255; 0; 0
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Joint Violation Color: 255; 0; 255
Planning Group:
left
_arm
Planning Group:
panda
_arm
Query Goal State:
tru
e
Query Goal State:
fals
e
Query Start State: false
Query Start State: false
Show Workspace: false
Show Workspace: false
Start State Alpha: 1
Start State Alpha: 1
Start State Color: 0; 255; 0
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
Robot Description: robot_description
Scene Geometry:
Scene Geometry:
Scene Alpha: 1
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Color: 50; 230; 50
Scene Display Time: 0.2
Scene Display Time: 0.2
00000003
Show Scene Geometry: true
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Voxel Rendering: Occupied Voxels
Scene Robot:
Scene Robot:
Attached Body Color: 150; 50; 150
Attached Body Color: 150; 50; 150
Links:
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
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
base_footprint
:
panda_leftfinger
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
base
_link:
panda
_link
0
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
bl_caster_l_wheel
_link:
panda
_link
1
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
bl_caster_r_wheel
_link:
panda
_link
2
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
bl_caster_rotation
_link:
panda
_link
3
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
br_caster_l_wheel
_link:
panda
_link
4
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
br_caster_r_wheel
_link:
panda
_link
5
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
br_caster_rotation
_link:
panda
_link
6
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
double_stereo
_link:
panda
_link
7
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
fl_caster_l_wheel
_link:
panda
_link
8
:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
panda_rightfinger:
fl_caster_r_wheel_link:
Alpha: 1
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Show Trail: false
Value: true
Value: true
fl_caster_rotation_link:
Robot Alpha: 1
Alpha: 1
Show Robot Collision: false
Show Axes: false
Show Robot Visual: true
Show Trail: false
Value: true
Value: true
- Class: rviz/MarkerArray
fr_caster_l_wheel_link:
Enabled: true
Alpha: 1
Marker Topic: /rviz_visual_tools
Show Axes: false
Name: MarkerArray
Show Trail: false
Namespaces:
Value: true
{}
fr_caster_r_wheel_link:
Queue Size: 100
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
Value: true
Value: true
Enabled: true
Enabled: true
Global Options:
Global Options:
Background Color: 48; 48; 48
Background Color: 48; 48; 48
Fixed Frame: /panda_link0
Default Light: true
Fixed Frame: panda_link0
Frame Rate: 30
Name: root
Name: root
Tools:
Tools:
- Class: rviz/Interact
- Class: rviz/Interact
Hide Inactive Objects: true
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/Select
- Class: rviz_visual_tools/KeyTool
Value: true
Value: true
Views:
Views:
Current:
Current:
Class: rviz/XYOrbit
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:
Focal Point:
X: 0.113567
X: 0.113567002
Y: 0.10592
Y: 0.105920002
Z: 2.23518e-07
Z: 2.23518001e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Name: Current View
Near Clip Distance: 0.0
1
Near Clip Distance: 0.0
0999999978
Pitch: 0.
5
09797
Pitch: 0.0
2
9797
1833
Target Frame:
/
panda_link0
Target Frame: panda_link0
Value: XYOrbit (rviz)
Value: XYOrbit (rviz)
Yaw: 5.6
5
995
Yaw: 5.
8
6995
268
Saved: ~
Saved: ~
Window Geometry:
Window Geometry:
Displays:
Displays:
collapsed: false
collapsed: false
Height: 1
337
Height: 1
416
Help:
Help:
collapsed: false
collapsed: false
Hide Left Dock: false
Hide Left Dock: false
Hide Right Dock: false
Hide Right Dock: false
Motion Planning:
MotionPlanning:
collapsed: false
MotionPlanning - Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002b20000053ffc0200000008fb000000100044006900730070006c00610079007301000000280000026a000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002980000027e000001f000fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000051c0000004b0000004800ffffff000007070000053f00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RvizVisualToolsGui:
collapsed: false
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
Views:
collapsed: false
collapsed: false
Width:
1828
Width:
2495
X:
459
X:
2625
Y:
-
24
3
Y: 24
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