削除したrun_move_group.rvizの内容をmoveit.rvizとして反映

crane_plus_moveit_config/config/moveit.rviz

@@ -1,51 +1,351 @@
 Panels:
   - Class: rviz_common/Displays
+    Help Height: 78
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /Global Options1
+        - /Status1
         - /MotionPlanning1
-  - Class: rviz_common/Help
-    Name: Help
+        - /Trajectory1
+      Splitter Ratio: 0.5
+    Tree Height: 295
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
     Name: Views
+    Splitter Ratio: 0.5
 Visualization Manager:
+  Class: ""
   Displays:
-    - Class: rviz_default_plugins/Grid
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/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
-    - Class: moveit_rviz_plugin/MotionPlanning
+    - Acceleration_Scaling_Factor: 1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      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:
-        Loop Animation: true
+        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_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          crane_plus_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        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
-        Trajectory Topic: display_planned_path
+        Trail Step Size: 1
+        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: 0.07999999821186066
+      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: arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
       Planning Scene Topic: monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry:
-        Scene Alpha: 1
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
       Scene Robot:
-        Robot Alpha: 0.5
+        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_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          crane_plus_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          crane_plus_link_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 1
+    - Class: moveit_rviz_plugin/Trajectory
+      Color Enabled: false
+      Enabled: true
+      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_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        crane_plus_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        crane_plus_link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        crane_plus_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        crane_plus_link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        crane_plus_link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        crane_plus_link_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Loop Animation: false
+      Name: Trajectory
+      Robot Alpha: 0.5
+      Robot Color: 150; 50; 150
+      Robot Description: robot_description
+      Show Robot Collision: false
+      Show Robot Visual: true
+      Show Trail: false
+      State Display Time: 0.05 s
+      Trail Step Size: 1
+      Trajectory Topic: display_planned_path
       Value: true
+  Enabled: true
   Global Options:
+    Background Color: 48; 48; 48
     Fixed Frame: world
+    Frame Rate: 30
+  Name: root
   Tools:
     - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
     - Class: rviz_default_plugins/MoveCamera
     - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 2.0
+      Distance: 0.8449440598487854
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
       Focal Point:
-        X: -0.1
-        Y: 0.25
-        Z: 0.30
+        X: -0.04136588051915169
+        Y: -0.017012163996696472
+        Z: 0.08837244659662247
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Pitch: 0.5
-      Target Frame: world
-      Yaw: -0.623
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.44539815187454224
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5553978681564331
+    Saved: ~
 Window Geometry:
-  Height: 975
-  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Width: 1200
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Trajectory - Trajectory Slider:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 0