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moveit_config: make RViz load MoveIt display by default.
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@gavanderhoorn
gavanderhoorn committed Jan 2, 2017
1 parent 47005d1 commit f4a343e
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Showing 3 changed files with 265 additions and 92 deletions.
115 changes: 85 additions & 30 deletions ur10_moveit_config/launch/moveit.rviz
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Original file line number Diff line number Diff line change
@@ -1,19 +1,31 @@
Panels:
- Class: rviz/Displays
Help Height: 84
Help Height: 75
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.74256
Tree Height: 291
- Class: rviz/Help
Name: Help
Splitter Ratio: 0.5
Tree Height: 299
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
Expand All @@ -39,19 +51,34 @@ Visualization Manager:
Enabled: true
Move Group Namespace: ""
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Time: 0
MoveIt_Planning_Attempts: 1
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
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:
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:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Expand All @@ -61,6 +88,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
forearm_link:
Alpha: 1
Show Axes: false
Expand All @@ -71,6 +99,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
upper_arm_link:
Alpha: 1
Show Axes: false
Expand All @@ -95,8 +127,9 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
Expand All @@ -113,18 +146,18 @@ Visualization Manager:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Interactive Marker Size: 0.15
Joint Violation Color: 255; 0; 255
Planning Group: manipulator
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
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Alpha: 0.9
Scene Color: 50; 230; 50
Scene Display Time: 0.2
Show Scene Geometry: true
Expand All @@ -138,6 +171,10 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Expand All @@ -147,6 +184,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
forearm_link:
Alpha: 1
Show Axes: false
Expand All @@ -157,6 +195,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
upper_arm_link:
Alpha: 1
Show Axes: false
Expand All @@ -181,7 +223,7 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Expand All @@ -196,40 +238,53 @@ Visualization Manager:
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/XYOrbit
Distance: 2.9965
Class: rviz/Orbit
Distance: 2.82854
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.747697
Y: -0.20044
Z: 3.42727e-07
X: 0.044143
Y: -0.0136969
Z: 0.0199439
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.289797
Target Frame: world
Value: XYOrbit (rviz)
Yaw: 5.44495
Pitch: 0.465398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9954
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 876
Help:
collapsed: false
Height: 997
Hide Left Dock: false
Hide Right Dock: false
Hide Right Dock: true
Motion Planning:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a20000031cfc0200000005fb000000100044006900730070006c0061007900730100000036000001b4000000b700fffffffb0000000800480065006c00700000000342000000bb0000006500fffffffb0000000a0056006900650077007300000003b0000000b00000009b00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001f0000001620000015700ffffff000003570000031c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Width: 1535
X: 65
Y: 24
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1680
X: -10
Y: 21
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