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henningkayserhenningkayser
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Configure RViz to launch MotionPlanning panel
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‎panda_moveit_config/launch/moveit.rviz‎

Lines changed: 233 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ Panels:
55
Property Tree Widget:
66
Expanded: ~
77
Splitter Ratio: 0.5
8-
Tree Height: 802
8+
Tree Height: 435
99
- Class: rviz_common/Selection
1010
Name: Selection
1111
- Class: rviz_common/Tool Properties
@@ -121,6 +121,10 @@ Visualization Manager:
121121
Show Axes: false
122122
Show Trail: false
123123
Value: true
124+
world:
125+
Alpha: 1
126+
Show Axes: false
127+
Show Trail: false
124128
Loop Animation: false
125129
Name: Trajectory
126130
Robot Alpha: 0.5
@@ -132,6 +136,7 @@ Visualization Manager:
132136
State Display Time: 0.05 s
133137
Trail Step Size: 1
134138
Trajectory Topic: /display_planned_path
139+
Use Sim Time: false
135140
Value: true
136141
- Class: moveit_rviz_plugin/PlanningScene
137142
Enabled: true
@@ -213,10 +218,222 @@ Visualization Manager:
213218
Show Axes: false
214219
Show Trail: false
215220
Value: true
221+
world:
222+
Alpha: 1
223+
Show Axes: false
224+
Show Trail: false
216225
Robot Alpha: 1
217226
Show Robot Collision: false
218227
Show Robot Visual: true
219228
Value: true
229+
- Acceleration_Scaling_Factor: 0.1
230+
Class: moveit_rviz_plugin/MotionPlanning
231+
Enabled: true
232+
Move Group Namespace: ""
233+
MoveIt_Allow_Approximate_IK: false
234+
MoveIt_Allow_External_Program: false
235+
MoveIt_Allow_Replanning: false
236+
MoveIt_Allow_Sensor_Positioning: false
237+
MoveIt_Planning_Attempts: 10
238+
MoveIt_Planning_Time: 5
239+
MoveIt_Use_Cartesian_Path: false
240+
MoveIt_Use_Constraint_Aware_IK: false
241+
MoveIt_Workspace:
242+
Center:
243+
X: 0
244+
Y: 0
245+
Z: 0
246+
Size:
247+
X: 2
248+
Y: 2
249+
Z: 2
250+
Name: MotionPlanning
251+
Planned Path:
252+
Color Enabled: false
253+
Interrupt Display: false
254+
Links:
255+
All Links Enabled: true
256+
Expand Joint Details: false
257+
Expand Link Details: false
258+
Expand Tree: false
259+
Link Tree Style: Links in Alphabetic Order
260+
panda_hand:
261+
Alpha: 1
262+
Show Axes: false
263+
Show Trail: false
264+
Value: true
265+
panda_leftfinger:
266+
Alpha: 1
267+
Show Axes: false
268+
Show Trail: false
269+
Value: true
270+
panda_link0:
271+
Alpha: 1
272+
Show Axes: false
273+
Show Trail: false
274+
Value: true
275+
panda_link1:
276+
Alpha: 1
277+
Show Axes: false
278+
Show Trail: false
279+
Value: true
280+
panda_link2:
281+
Alpha: 1
282+
Show Axes: false
283+
Show Trail: false
284+
Value: true
285+
panda_link3:
286+
Alpha: 1
287+
Show Axes: false
288+
Show Trail: false
289+
Value: true
290+
panda_link4:
291+
Alpha: 1
292+
Show Axes: false
293+
Show Trail: false
294+
Value: true
295+
panda_link5:
296+
Alpha: 1
297+
Show Axes: false
298+
Show Trail: false
299+
Value: true
300+
panda_link6:
301+
Alpha: 1
302+
Show Axes: false
303+
Show Trail: false
304+
Value: true
305+
panda_link7:
306+
Alpha: 1
307+
Show Axes: false
308+
Show Trail: false
309+
Value: true
310+
panda_link8:
311+
Alpha: 1
312+
Show Axes: false
313+
Show Trail: false
314+
panda_rightfinger:
315+
Alpha: 1
316+
Show Axes: false
317+
Show Trail: false
318+
Value: true
319+
world:
320+
Alpha: 1
321+
Show Axes: false
322+
Show Trail: false
323+
Loop Animation: false
324+
Robot Alpha: 0.5
325+
Robot Color: 150; 50; 150
326+
Show Robot Collision: false
327+
Show Robot Visual: true
328+
Show Trail: false
329+
State Display Time: 3x
330+
Trail Step Size: 1
331+
Trajectory Topic: /display_planned_path
332+
Use Sim Time: false
333+
Planning Metrics:
334+
Payload: 1
335+
Show Joint Torques: false
336+
Show Manipulability: false
337+
Show Manipulability Index: false
338+
Show Weight Limit: false
339+
TextHeight: 0.07999999821186066
340+
Planning Request:
341+
Colliding Link Color: 255; 0; 0
342+
Goal State Alpha: 1
343+
Goal State Color: 250; 128; 0
344+
Interactive Marker Size: 0
345+
Joint Violation Color: 255; 0; 255
346+
Planning Group: panda_arm
347+
Query Goal State: true
348+
Query Start State: false
349+
Show Workspace: false
350+
Start State Alpha: 1
351+
Start State Color: 0; 255; 0
352+
Planning Scene Topic: /monitored_planning_scene
353+
Robot Description: robot_description
354+
Scene Geometry:
355+
Scene Alpha: 0.8999999761581421
356+
Scene Color: 50; 230; 50
357+
Scene Display Time: 0.009999999776482582
358+
Show Scene Geometry: true
359+
Voxel Coloring: Z-Axis
360+
Voxel Rendering: Occupied Voxels
361+
Scene Robot:
362+
Attached Body Color: 150; 50; 150
363+
Links:
364+
All Links Enabled: true
365+
Expand Joint Details: false
366+
Expand Link Details: false
367+
Expand Tree: false
368+
Link Tree Style: Links in Alphabetic Order
369+
panda_hand:
370+
Alpha: 1
371+
Show Axes: false
372+
Show Trail: false
373+
Value: true
374+
panda_leftfinger:
375+
Alpha: 1
376+
Show Axes: false
377+
Show Trail: false
378+
Value: true
379+
panda_link0:
380+
Alpha: 1
381+
Show Axes: false
382+
Show Trail: false
383+
Value: true
384+
panda_link1:
385+
Alpha: 1
386+
Show Axes: false
387+
Show Trail: false
388+
Value: true
389+
panda_link2:
390+
Alpha: 1
391+
Show Axes: false
392+
Show Trail: false
393+
Value: true
394+
panda_link3:
395+
Alpha: 1
396+
Show Axes: false
397+
Show Trail: false
398+
Value: true
399+
panda_link4:
400+
Alpha: 1
401+
Show Axes: false
402+
Show Trail: false
403+
Value: true
404+
panda_link5:
405+
Alpha: 1
406+
Show Axes: false
407+
Show Trail: false
408+
Value: true
409+
panda_link6:
410+
Alpha: 1
411+
Show Axes: false
412+
Show Trail: false
413+
Value: true
414+
panda_link7:
415+
Alpha: 1
416+
Show Axes: false
417+
Show Trail: false
418+
Value: true
419+
panda_link8:
420+
Alpha: 1
421+
Show Axes: false
422+
Show Trail: false
423+
panda_rightfinger:
424+
Alpha: 1
425+
Show Axes: false
426+
Show Trail: false
427+
Value: true
428+
world:
429+
Alpha: 1
430+
Show Axes: false
431+
Show Trail: false
432+
Robot Alpha: 1
433+
Show Robot Collision: false
434+
Show Robot Visual: true
435+
Value: true
436+
Velocity_Scaling_Factor: 0.1
220437
Enabled: true
221438
Global Options:
222439
Background Color: 48; 48; 48
@@ -232,6 +449,9 @@ Visualization Manager:
232449
- Class: rviz_default_plugins/Measure
233450
Line color: 128; 128; 0
234451
- Class: rviz_default_plugins/SetInitialPose
452+
Covariance x: 0.25
453+
Covariance y: 0.25
454+
Covariance yaw: 0.06853891909122467
235455
Topic:
236456
Depth: 5
237457
Durability Policy: Volatile
@@ -267,26 +487,30 @@ Visualization Manager:
267487
Swap Stereo Eyes: false
268488
Value: false
269489
Focal Point:
270-
X: 0.02386285550892353
271-
Y: 0.15478567779064178
272-
Z: 0.039489321410655975
490+
X: 0.41813451051712036
491+
Y: 0.3977149724960327
492+
Z: 0.3874291777610779
273493
Focal Shape Fixed Size: true
274494
Focal Shape Size: 0.05000000074505806
275495
Invert Z Axis: false
276496
Name: Current View
277497
Near Clip Distance: 0.009999999776482582
278-
Pitch: 0.5953981876373291
498+
Pitch: 0.46539801359176636
279499
Target Frame: <Fixed Frame>
280500
Value: Orbit (rviz)
281-
Yaw: 5.958578109741211
501+
Yaw: 5.373577117919922
282502
Saved: ~
283503
Window Geometry:
504+
"":
505+
collapsed: false
506+
" - Trajectory Slider":
507+
collapsed: false
284508
Displays:
285509
collapsed: false
286510
Height: 1025
287511
Hide Left Dock: false
288512
Hide Right Dock: true
289-
QMainWindow State: 000000ff00000000fd000000040000000000000156000003abfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003ab000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00ffffff000000010000010f000003abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003ab000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005e1000003ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
513+
QMainWindow State: 000000ff00000000fd0000000400000000000001c9000003abfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000023c000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffbffffffff010000027d000001690000016900ffffff000000010000010f000003abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003ab000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000056e000003ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
290514
Selection:
291515
collapsed: false
292516
Tool Properties:
@@ -296,5 +520,5 @@ Window Geometry:
296520
Views:
297521
collapsed: true
298522
Width: 1853
299-
X: 67
300-
Y: 27
523+
X: 438
524+
Y: 247

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