530 lines
16 KiB
YAML
530 lines
16 KiB
YAML
Panels:
|
|
- Class: rviz/Displays
|
|
Help Height: 0
|
|
Name: Displays
|
|
Property Tree Widget:
|
|
Expanded: ~
|
|
Splitter Ratio: 0.501006007194519
|
|
Tree Height: 419
|
|
- Class: rviz/Selection
|
|
Name: Selection
|
|
- Class: rviz/Tool Properties
|
|
Expanded:
|
|
- /2D Pose Estimate1
|
|
- /2D Nav Goal1
|
|
- /Publish Point1
|
|
Name: Tool Properties
|
|
Splitter Ratio: 0.5886790156364441
|
|
- Class: rviz/Views
|
|
Expanded:
|
|
- /Current View1
|
|
- /Current View1/Focal Point1
|
|
Name: Views
|
|
Splitter Ratio: 0.5
|
|
- Class: rviz/Time
|
|
Experimental: false
|
|
Name: Time
|
|
SyncMode: 0
|
|
SyncSource: DepthImage
|
|
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
|
|
- Class: rviz/TF
|
|
Enabled: true
|
|
Frame Timeout: 15
|
|
Frames:
|
|
All Enabled: false
|
|
camera_depth_optical_frame:
|
|
Value: true
|
|
panda_hand:
|
|
Value: true
|
|
panda_leftfinger:
|
|
Value: false
|
|
panda_link0:
|
|
Value: true
|
|
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
|
|
task:
|
|
Value: true
|
|
world:
|
|
Value: false
|
|
Marker Alpha: 1
|
|
Marker Scale: 0.30000001192092896
|
|
Name: TF
|
|
Show Arrows: false
|
|
Show Axes: true
|
|
Show Names: false
|
|
Tree:
|
|
world:
|
|
panda_link0:
|
|
panda_link1:
|
|
panda_link2:
|
|
panda_link3:
|
|
panda_link4:
|
|
panda_link5:
|
|
panda_link6:
|
|
panda_link7:
|
|
panda_link8:
|
|
panda_hand:
|
|
camera_depth_optical_frame:
|
|
{}
|
|
panda_leftfinger:
|
|
{}
|
|
panda_rightfinger:
|
|
{}
|
|
task:
|
|
{}
|
|
Update Interval: 0
|
|
Value: true
|
|
- Alpha: 1
|
|
Class: rviz/RobotModel
|
|
Collision Enabled: false
|
|
Enabled: true
|
|
Links:
|
|
All Links Enabled: true
|
|
Expand Joint Details: false
|
|
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: ""
|
|
Update Interval: 0
|
|
Value: true
|
|
Visual Enabled: true
|
|
- Acceleration_Scaling_Factor: 0.1
|
|
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: false
|
|
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:
|
|
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
|
|
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
|
|
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: hand
|
|
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: 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:
|
|
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
|
|
Robot Alpha: 1
|
|
Show Robot Collision: false
|
|
Show Robot Visual: true
|
|
Value: false
|
|
Velocity_Scaling_Factor: 0.1
|
|
- Class: moveit_rviz_plugin/PlanningScene
|
|
Enabled: false
|
|
Move Group Namespace: ""
|
|
Name: PlanningScene
|
|
Planning Scene Topic: move_group/monitored_planning_scene
|
|
Robot Description: robot_description
|
|
Scene Geometry:
|
|
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:
|
|
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
|
|
Robot Alpha: 1
|
|
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:
|
|
Max Value: 10
|
|
Min Value: -10
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: intensity
|
|
Class: rviz/PointCloud2
|
|
Color: 255; 255; 255
|
|
Color Transformer: RGB8
|
|
Decay Time: 0
|
|
Enabled: false
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Min Color: 0; 0; 0
|
|
Name: PointCloud
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.0020000000949949026
|
|
Style: Spheres
|
|
Topic: /camera/depth/color/points
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: false
|
|
- Class: rviz/Image
|
|
Enabled: true
|
|
Image Topic: /camera/depth/image_rect_raw
|
|
Max Value: 1
|
|
Median window: 5
|
|
Min Value: 0
|
|
Name: DepthImage
|
|
Normalize Range: true
|
|
Queue Size: 2
|
|
Transport Hint: raw
|
|
Unreliable: false
|
|
Value: true
|
|
- Class: rviz/MarkerArray
|
|
Enabled: true
|
|
Marker Topic: visualization_marker_array
|
|
Name: Markers
|
|
Namespaces:
|
|
bbox: true
|
|
grasp: true
|
|
path: true
|
|
views: true
|
|
Queue Size: 100
|
|
Value: true
|
|
- 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: SceneCloud
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.009999999776482582
|
|
Style: Spheres
|
|
Topic: /scene_cloud
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: true
|
|
- Alpha: 0.20000000298023224
|
|
Autocompute Intensity Bounds: false
|
|
Autocompute Value Bounds:
|
|
Max Value: 10
|
|
Min Value: -10
|
|
Value: true
|
|
Axis: Z
|
|
Channel Name: distance
|
|
Class: rviz/PointCloud2
|
|
Color: 255; 255; 255
|
|
Color Transformer: Intensity
|
|
Decay Time: 0
|
|
Enabled: false
|
|
Invert Rainbow: false
|
|
Max Color: 255; 255; 255
|
|
Max Intensity: 1
|
|
Min Color: 0; 0; 0
|
|
Min Intensity: 0
|
|
Name: MapCloud
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.007499999832361937
|
|
Style: Boxes
|
|
Topic: /map_cloud
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: true
|
|
Value: false
|
|
- Alpha: 1
|
|
Autocompute Intensity Bounds: false
|
|
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: false
|
|
Invert Rainbow: false
|
|
Max Color: 0; 255; 0
|
|
Max Intensity: 1
|
|
Min Color: 255; 0; 0
|
|
Min Intensity: 0.5
|
|
Name: GraspQuality
|
|
Position Transformer: XYZ
|
|
Queue Size: 10
|
|
Selectable: true
|
|
Size (Pixels): 3
|
|
Size (m): 0.007499999832361937
|
|
Style: Boxes
|
|
Topic: /quality
|
|
Unreliable: false
|
|
Use Fixed Frame: true
|
|
Use rainbow: false
|
|
Value: false
|
|
Enabled: true
|
|
Global Options:
|
|
Background Color: 48; 48; 48
|
|
Default Light: true
|
|
Fixed Frame: panda_link0
|
|
Frame Rate: 30
|
|
Name: root
|
|
Tools:
|
|
- Class: rviz/Interact
|
|
Hide Inactive Objects: true
|
|
- Class: rviz/MoveCamera
|
|
- Class: rviz/Select
|
|
- Class: rviz/FocusCamera
|
|
- Class: rviz/Measure
|
|
- Class: rviz/SetInitialPose
|
|
Theta std deviation: 0.2617993950843811
|
|
Topic: /initialpose
|
|
X std deviation: 0.5
|
|
Y std deviation: 0.5
|
|
- Class: rviz/SetGoal
|
|
Topic: /move_base_simple/goal
|
|
- Class: rviz/PublishPoint
|
|
Single click: true
|
|
Topic: /clicked_point
|
|
Value: true
|
|
Views:
|
|
Current:
|
|
Class: rviz/Orbit
|
|
Distance: 1.5308048725128174
|
|
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: 0.34312182664871216
|
|
Y: -0.10157600790262222
|
|
Z: 0.30506056547164917
|
|
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
|
|
Target Frame: <Fixed Frame>
|
|
Yaw: 1.9687141180038452
|
|
Saved: ~
|
|
Window Geometry:
|
|
ColorImage:
|
|
collapsed: false
|
|
DepthImage:
|
|
collapsed: false
|
|
Displays:
|
|
collapsed: false
|
|
Height: 837
|
|
Hide Left Dock: false
|
|
Hide Right Dock: true
|
|
MotionPlanning:
|
|
collapsed: false
|
|
MotionPlanning - Trajectory Slider:
|
|
collapsed: false
|
|
QMainWindow State: 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
|
|
Selection:
|
|
collapsed: false
|
|
Time:
|
|
collapsed: false
|
|
Tool Properties:
|
|
collapsed: false
|
|
Views:
|
|
collapsed: false
|
|
Width: 1098
|
|
X: 821
|
|
Y: 27
|