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[Won't merge] Add ROS-I Cartesian Planner sample launch. #48

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[Won't merge] Add ROS-I Cartesian Planner sample launch. #48

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14 changes: 14 additions & 0 deletions vs060_moveit_config/launch/demo_simulation_noenvironment_cartesianplanner.launch
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<launch>
<include file="$(find vs060_moveit_config)/launch/demo.launch">
<arg name="use_kinect" value="false" />
<arg name="use_rviz" value="false" />
<arg name="mode" value="simulation" />
</include>
<node name="rviz" pkg="rviz" type="rviz" respawn="true"
args="-d $(find vs060_moveit_config)/launch/moveit_cartesianplanner.rviz" output="screen">


<rosparam command="load" file="$(find vs060_moveit_config)/config/kinematics.yaml"/>
</node>

</launch>
328 changes: 328 additions & 0 deletions vs060_moveit_config/launch/moveit_cartesianplanner.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1/Planning Request1
- /TF1/Frames1
- /TF1/Tree1
- /Axes1
- /InteractiveMarkers1
Splitter Ratio: 0.74256
Tree Height: 225
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: moveit_cartesian_plan_plugin/MoveIt Cartesian Plan Plug-in
Name: MoveIt Cartesian Plan Plug-in
TextEntry: test_field
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: moveit_rviz_plugin/MotionPlanning
Enabled: true
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Time: 5
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
Name: MotionPlanning
Planned Path:
Links:
All Links Enabled: true
BASE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
Loop Animation: false
Robot Alpha: 0.4
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.01s
Trajectory Topic: /move_group/display_planned_path
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.08
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: true
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: 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
BASE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
Robot Alpha: 0.5
Show Robot Collision: true
Show Robot Visual: true
Value: true
- Class: rviz/Camera
Enabled: true
Image Rendering: background and overlay
Image Topic: /camera/rgb/image_rect
Name: Camera
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Value: true
Visibility:
Axes: true
Grid: true
MotionPlanning: true
RobotModel: true
TF: true
Value: true
Zoom Factor: 1
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.03
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
BASE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: true
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Update Topic: /moveit_cartesian_planner/update
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: BASE
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: 2.25442
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0321833
Y: -0.0823246
Z: 3.70813e-07
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.4148
Target Frame: base_link
Value: XYOrbit (rviz)
Yaw: 1.05721
Saved: ~
Window Geometry:
Cartesian Path Planner MoveIt Plug-in:
collapsed: false
Camera:
collapsed: false
Displays:
collapsed: false
Height: 900
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning:
collapsed: false
MoveIt Cartesian Plan Plug-in:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a20000033efc0200000006fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000028000001c80000017400fffffffb000000100044006900730070006c00610079007301000001f600000170000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000002d4000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000001600fffffffb0000000c00430061006d0065007200610100000266000001710000000000000000000002ef0000033e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1431
X: 97
Y: 24
1 change: 1 addition & 0 deletions vs060_moveit_config/package.xml
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Expand Up @@ -26,6 +26,7 @@
<run_depend>pr2_moveit_plugins</run_depend>
<run_depend>robot_mechanism_controllers</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>moveit_cartesian_plan_plugin</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
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