Update rviz config

2021-11-09 11:56:21 +01:00 · 2021-11-09 11:56:21 +01:00 · 2805be52e2
commit 2805be52e2
parent 8052784cc0
1 changed files with 37 additions and 157 deletions
--- a/launch/active_grasp.rviz
+++ b/launch/active_grasp.rviz
@ -4,8 +4,8 @@ Panels:
    Name: Displays
    Property Tree Widget:
      Expanded: ~
-      Splitter Ratio: 0.49705880880355835
-    Tree Height: 534
+      Splitter Ratio: 0.501006007194519
+    Tree Height: 448
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@ -82,6 +82,8 @@ Visualization Manager:
          Value: false
        panda_rightfinger:
          Value: false
+        task:
+          Value: true
        world:
          Value: false
      Marker Alpha: 1
@ -108,6 +110,8 @@ Visualization Manager:
                                {}
                              panda_rightfinger:
                                {}
+            task:
+              {}
      Update Interval: 0
      Value: true
    - Alpha: 1
@ -223,70 +227,6 @@ Visualization Manager:
          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
        Loop Animation: false
        Robot Alpha: 0.5
        Robot Color: 150; 50; 150
@ -332,70 +272,6 @@ Visualization Manager:
          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
        Robot Alpha: 1
        Show Robot Collision: false
        Show Robot Visual: true
@ -502,18 +378,6 @@ Visualization Manager:
      Transport Hint: raw
      Unreliable: false
      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
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
@ -542,12 +406,28 @@ Visualization Manager:
      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
+        roi: true
+        views: true
      Queue Size: 100
      Value: true
    - Alpha: 1
@ -578,7 +458,7 @@ Visualization Manager:
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
-    - Alpha: 0.05000000074505806
+    - Alpha: 0.20000000298023224
      Autocompute Intensity Bounds: false
      Autocompute Value Bounds:
        Max Value: 10
@ -620,7 +500,7 @@ Visualization Manager:
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
-      Enabled: true
+      Enabled: false
      Invert Rainbow: false
      Max Color: 0; 255; 0
      Max Intensity: 1
@ -637,7 +517,7 @@ Visualization Manager:
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: false
-      Value: true
+      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
@ -666,7 +546,7 @@ Visualization Manager:
  Views:
    Current:
      Class: rviz/Orbit
-      Distance: 1.7602970600128174
+      Distance: 1.3765044212341309
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
@ -674,17 +554,17 @@ Visualization Manager:
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
-        X: 0.10829287022352219
-        Y: 0.31190115213394165
-        Z: 0.30809181928634644
+        X: 0.325906902551651
+        Y: 0.0038837254978716373
+        Z: 0.38982900977134705
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2100006490945816
+      Pitch: 0.24499565362930298
      Target Frame: <Fixed Frame>
-      Yaw: 5.239990234375
+      Yaw: 5.461853504180908
    Saved: ~
 Window Geometry:
  ColorImage:
@ -693,14 +573,14 @@ Window Geometry:
    collapsed: false
  Displays:
    collapsed: false
-  Height: 965
+  Height: 837
  Hide Left Dock: false
  Hide Right Dock: true
  MotionPlanning:
    collapsed: false
  MotionPlanning - Trajectory Slider:
    collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
  Selection:
    collapsed: false
  Time:
@ -709,6 +589,6 @@ Window Geometry:
    collapsed: false
  Views:
    collapsed: false
-  Width: 1379
-  X: 1070
-  Y: 288
+  Width: 1098
+  X: 822
+  Y: 27