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Update rviz config

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This commit is contained in:
Michel Breyer 2021-12-03 15:05:19 +01:00
parent 571b382654
commit 3f53671b3c
1 changed files with 166 additions and 36 deletions
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202
cfg/active_grasp.rviz
View File

@ -1,11 +1,12 @@
Panels:
- Class: rviz/Displays
Help Height: 0
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.501006007194519
Tree Height: 419
Expanded:
- /TF1/Frames1
Splitter Ratio: 0.6881287693977356
Tree Height: 286
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -18,7 +19,6 @@ Panels:
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
@ -56,6 +56,52 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
camera_color_frame:
Value: false
camera_color_optical_frame:
Value: false
camera_depth_frame:
Value: false
camera_depth_optical_frame:
Value: true
camera_link:
Value: false
panda_EE:
Value: false
panda_K:
Value: false
panda_NE:
Value: false
panda_hand:
Value: false
panda_leftfinger:
Value: false
panda_link0:
Value: false
panda_link1:
Value: false
panda_link2:
Value: false
panda_link3:
Value: false
panda_link4:
Value: false
panda_link5:
Value: false
panda_link6:
Value: false
panda_link7:
Value: false
panda_link8:
Value: false
panda_rightfinger:
Value: false
tag_0:
Value: false
task:
Value: false
world:
Value: false
Marker Alpha: 1
Marker Scale: 0.30000001192092896
Name: TF
@ -63,7 +109,27 @@ Visualization Manager:
Show Axes: true
Show Names: false
Tree:
{}
world:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
camera_depth_optical_frame:
{}
panda_link8:
panda_NE:
panda_EE:
panda_K:
{}
panda_hand:
panda_leftfinger:
{}
panda_rightfinger:
{}
Update Interval: 0
Value: true
- Alpha: 1
@ -76,6 +142,70 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
@ -84,7 +214,7 @@ Visualization Manager:
Visual Enabled: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Enabled: false
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
@ -137,7 +267,7 @@ Visualization Manager:
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: hand
Planning Group: ""
Query Goal State: true
Query Start State: false
Show Workspace: false
@ -163,7 +293,7 @@ Visualization Manager:
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Value: false
Velocity_Scaling_Factor: 0.1
- Class: moveit_rviz_plugin/PlanningScene
Enabled: false
@ -190,18 +320,6 @@ Visualization Manager:
Show Robot Collision: false
Show Robot Visual: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: ColorImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@ -214,7 +332,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
@ -229,9 +347,21 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: ColorImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/depth/image_rect_raw
Max Value: 1
Median window: 5
@ -241,7 +371,7 @@ Visualization Manager:
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: visualization_marker_array
@ -366,25 +496,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.5308048725128174
Distance: 1.2000000476837158
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Field of View: 0.7799999713897705
Focal Point:
X: 0.34312182664871216
Y: -0.10157600790262222
Z: 0.30506056547164917
X: 0.5
Y: 0
Z: 0.4000000059604645
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4247966408729553
Pitch: 0.25999999046325684
Target Frame: <Fixed Frame>
Yaw: 1.9687141180038452
Yaw: 1.0399999618530273
Saved: ~
Window Geometry:
ColorImage:
@ -393,14 +523,14 @@ Window Geometry:
collapsed: false
Displays:
collapsed: false
Height: 837
Height: 960
Hide Left Dock: false
Hide Right Dock: true
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
Selection:
collapsed: false
Time:
@ -408,7 +538,7 @@ Window Geometry:
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1098
X: 821
collapsed: true
Width: 1920
X: 0
Y: 27