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Define custom scenes via yaml files

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This commit is contained in:
Michel Breyer
2021-09-08 16:50:53 +02:00
parent 60443b0c2f
commit 1fb2eaf2b6
7 changed files with 465 additions and 244 deletions
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627
launch/active_grasp.rviz
View File

@@ -4,8 +4,7 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /PlanningScene1/Scene Geometry1
- /Markers1/Namespaces1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 805
- Class: rviz/Selection
@@ -52,6 +51,377 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.20000000298023224
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: 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
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: visualization_marker_array
Name: Markers
Namespaces:
bbox: true
best_grasp: true
grasps: true
path: true
Queue Size: 100
Value: 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
camera_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
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: panda_arm
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
camera_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
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
camera_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
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: false
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: 138; 226; 52
Max Intensity: 1
Min Color: 239; 41; 41
Min Intensity: 0
Name: Quality
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
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
@@ -62,6 +432,10 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
@@ -128,114 +502,34 @@ Visualization Manager:
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: panda_arm
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
- 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
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
@@ -272,11 +566,11 @@ Visualization Manager:
world:
Value: false
Marker Alpha: 1
Marker Scale: 0.4000000059604645
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Show Names: false
Tree:
world:
panda_link0:
@@ -299,105 +593,6 @@ Visualization Manager:
{}
Update Interval: 0
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: intensity
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: 138; 226; 52
Max Intensity: 1
Min Color: 239; 41; 41
Min Intensity: 0
Name: Quality
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
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: visualization_marker_array
Name: Markers
Namespaces:
bbox: true
best_grasp: true
grasps: true
path: true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -426,7 +621,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.379216194152832
Distance: 1.5005543231964111
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -442,9 +637,9 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3597939908504486
Pitch: 0.39479339122772217
Target Frame: <Fixed Frame>
Yaw: 5.247860431671143
Yaw: 5.172863483428955
Saved: ~
Window Geometry:
Displays:
@@ -466,5 +661,5 @@ Window Geometry:
Views:
collapsed: true
Width: 1516
X: 866
Y: 41
X: 1039
Y: 114