Skip to content
Snippets Groups Projects
Commit dcd0b847 authored by mike's avatar mike
Browse files

adding marker array to rviz

parent fe1ff784
No related branches found
No related tags found
No related merge requests found
...@@ -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: 0.0299999993
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_link0:
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_link1:
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_link2:
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_link3:
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_link4:
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_link5:
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_link6:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
double_stereo_link: panda_link7:
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_link8:
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: true Query Goal State: false
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: 0.200000003
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_link0:
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_link1:
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_link2:
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_link3:
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_link4:
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_link5:
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_link6:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
double_stereo_link: panda_link7:
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_link8:
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: 0.01 Near Clip Distance: 0.00999999978
Pitch: 0.509797 Pitch: 0.0297971833
Target Frame: /panda_link0 Target Frame: panda_link0
Value: XYOrbit (rviz) Value: XYOrbit (rviz)
Yaw: 5.65995 Yaw: 5.86995268
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1337 Height: 1416
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: -243 Y: 24
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment