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config.rviz
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config.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /MotionPlanning1
- /PointCloud21
- /MarkerArray1
- /MarkerArray1/Status1
- /MarkerArray1/Namespaces1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5175438523292542
Tree Height: 892
- 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
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: false
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
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:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: 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
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
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: manipulator
Query Goal State: true
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
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
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
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: false
Velocity_Scaling_Factor: 1
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0010000000474974513
Style: Flat Squares
Topic: /points2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /planning_markers_viz
Name: MarkerArray
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base:
Value: false
base_link:
Value: false
base_link_inertia:
Value: false
camera_base:
Value: false
camera_body:
Value: false
camera_visor:
Value: false
depth_camera_link:
Value: false
flange:
Value: false
forearm_link:
Value: false
imu_link:
Value: false
rgb_camera_link:
Value: false
shoulder_link:
Value: false
stewart base 0:
Value: true
stewart base 1:
Value: false
stewart base 10:
Value: true
stewart base 11:
Value: true
stewart base 12:
Value: true
stewart base 13:
Value: true
stewart base 14:
Value: true
stewart base 15:
Value: true
stewart base 16:
Value: true
stewart base 17:
Value: true
stewart base 18:
Value: true
stewart base 2:
Value: false
stewart base 3:
Value: false
stewart base 4:
Value: false
stewart base 5:
Value: true
stewart base 6:
Value: true
stewart base 7:
Value: true
stewart base 8:
Value: true
stewart base 9:
Value: true
stewart tcp 0:
Value: true
stewart tcp 1:
Value: false
stewart tcp 10:
Value: true
stewart tcp 11:
Value: true
stewart tcp 12:
Value: true
stewart tcp 13:
Value: true
stewart tcp 14:
Value: true
stewart tcp 15:
Value: true
stewart tcp 16:
Value: true
stewart tcp 17:
Value: true
stewart tcp 18:
Value: true
stewart tcp 2:
Value: false
stewart tcp 3:
Value: false
stewart tcp 4:
Value: false
stewart tcp 5:
Value: true
stewart tcp 6:
Value: true
stewart tcp 7:
Value: true
stewart tcp 8:
Value: true
stewart tcp 9:
Value: true
target 0:
Value: false
tool0:
Value: false
tool0_controller:
Value: false
upper_arm_link:
Value: false
wrist_1_link:
Value: false
wrist_2_link:
Value: false
wrist_3_link:
Value: false
Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
base:
tool0_controller:
{}
base_link_inertia:
shoulder_link:
upper_arm_link:
forearm_link:
wrist_1_link:
wrist_2_link:
wrist_3_link:
flange:
tool0:
{}
camera_base:
camera_body:
{}
camera_visor:
{}
depth_camera_link:
imu_link:
{}
rgb_camera_link:
{}
stewart base 0:
{}
stewart base 1:
{}
stewart base 10:
{}
stewart base 11:
{}
stewart base 12:
{}
stewart base 13:
{}
stewart base 14:
{}
stewart base 15:
{}
stewart base 16:
{}
stewart base 17:
{}
stewart base 18:
{}
stewart base 2:
{}
stewart base 3:
{}
stewart base 4:
{}
stewart base 5:
{}
stewart base 6:
{}
stewart base 7:
{}
stewart base 8:
{}
stewart base 9:
{}
stewart tcp 0:
{}
stewart tcp 1:
{}
stewart tcp 10:
{}
stewart tcp 11:
{}
stewart tcp 12:
{}
stewart tcp 13:
{}
stewart tcp 14:
{}
stewart tcp 15:
{}
stewart tcp 16:
{}
stewart tcp 17:
{}
stewart tcp 18:
{}
stewart tcp 2:
{}
stewart tcp 3:
{}
stewart tcp 4:
{}
stewart tcp 5:
{}
stewart tcp 6:
{}
stewart tcp 7:
{}
stewart tcp 8:
{}
stewart tcp 9:
{}
target 0:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 0.4294282793998718
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.16301721334457397
Y: -0.020087920129299164
Z: -3.20374397233536e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4397979974746704
Target Frame: base_link
Yaw: 4.4758782386779785
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1043
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003b9fc0200000007fb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001da0000021c0000017d00ffffff00000587000003b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1920
X: 1920
Y: 0