diff --git a/launch/active_grasp.rviz b/launch/active_grasp.rviz index 576ab1f..336866e 100644 --- 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: - 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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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