From 4fc16b3945c952e18581e8be9faa798382824976 Mon Sep 17 00:00:00 2001 From: mizonon Date: Wed, 13 Nov 2024 16:13:15 +0900 Subject: [PATCH] =?UTF-8?q?=E5=89=8A=E9=99=A4=E3=81=97=E3=81=9Frun=5Fmove?= =?UTF-8?q?=5Fgroup.rviz=E3=81=AE=E5=86=85=E5=AE=B9=E3=82=92moveit.rviz?= =?UTF-8?q?=E3=81=A8=E3=81=97=E3=81=A6=E5=8F=8D=E6=98=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_plus_moveit_config/config/moveit.rviz | 336 ++++++++++++++++++-- 1 file changed, 318 insertions(+), 18 deletions(-) diff --git a/crane_plus_moveit_config/config/moveit.rviz b/crane_plus_moveit_config/config/moveit.rviz index f31651e..23014c9 100644 --- a/crane_plus_moveit_config/config/moveit.rviz +++ b/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: 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: + 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 \ No newline at end of file