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demo.rviz
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demo.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 484
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: cam_3 cloud
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
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
- 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
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: cam_2 cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /cam_2/depth/color/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: cam_3 cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /cam_3/depth/color/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: world frame
Radius: 0.0500000007
Reference Frame: <Fixed Frame>
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
finger_1_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_1_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_1_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_1_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_grasp_centroid:
Alpha: 1
Show Axes: false
Show Trail: false
finger_middle_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_middle_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_middle_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_middle_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_ee:
Alpha: 1
Show Axes: false
Show Trail: false
palm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
palm_surface:
Alpha: 1
Show Axes: false
Show Trail: false
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
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
- Class: rviz/Axes
Enabled: true
Length: 0.100000001
Name: cam_3 frame
Radius: 0.00999999978
Reference Frame: cam_3_depth_optical_frame
Value: true
- Class: rviz/Camera
Enabled: true
Image Rendering: background and overlay
Image Topic: /cam_2/color/image_raw
Name: cam_3 color
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Grid: true
RobotModel: true
Trajectory: true
Value: true
cam_2 cloud: true
cam_3 cloud: true
cam_3 frame: true
fingers: true
world frame: true
Zoom 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
finger_1_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_1_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_1_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_1_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_2_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_grasp_centroid:
Alpha: 1
Show Axes: false
Show Trail: false
finger_middle_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_middle_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_middle_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
finger_middle_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
iiwa_link_ee:
Alpha: 1
Show Axes: false
Show Trail: false
palm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
palm_surface:
Alpha: 1
Show Axes: false
Show Trail: false
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
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: /iiwa/move_group/display_planned_path
Value: true
- Class: rviz/Axes
Enabled: true
Length: 0.100000001
Name: fingers
Radius: 0.00999999978
Reference Frame: finger_grasp_centroid
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
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
Topic: /initialpose
- 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: 4
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.5
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000273000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001600630061006d005f003200200064006500700074006800000001eb000001030000000000000000fb0000001600630061006d005f003300200063006f006c006f007201000002a10000011d0000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004a00ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 1985
Y: 24
cam_3 color:
collapsed: false