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This commit is contained in:
Michel Breyer
2021-10-08 13:53:07 +02:00
parent c1710eb2da
commit 6ec5272394
6 changed files with 413 additions and 533 deletions
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495
launch/active_grasp.rviz
View File

@@ -3,9 +3,7 @@ Panels:
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Markers1/Namespaces1
- /TF1/Frames1
Expanded: ~
Splitter Ratio: 0.49705880880355835
Tree Height: 814
- Class: rviz/Selection
@@ -27,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: SceneCloud
SyncSource: GraspQuality
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -53,74 +51,149 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: ColorImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
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: false
- Alpha: 0.05000000074505806
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: distance
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
- Class: rviz/TF
Enabled: true
Marker Topic: visualization_marker_array
Name: Markers
Namespaces:
bbox: true
best_grasp: true
grasps: true
path: true
rays: true
views: true
workspace: true
Queue Size: 100
Frame Timeout: 15
Frames:
All Enabled: false
camera_depth_optical_frame:
Value: true
panda_hand:
Value: true
panda_leftfinger:
Value: false
panda_link0:
Value: true
panda_link1:
Value: false
panda_link2:
Value: false
panda_link3:
Value: false
panda_link4:
Value: false
panda_link5:
Value: false
panda_link6:
Value: false
panda_link7:
Value: false
panda_link8:
Value: false
panda_rightfinger:
Value: false
task:
Value: true
world:
Value: false
Marker Alpha: 1
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: false
Show Axes: true
Show Names: false
Tree:
world:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
camera_depth_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
task:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
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
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: false
@@ -357,6 +430,30 @@ Visualization Manager:
Show Robot Collision: false
Show Robot Visual: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: ColorImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
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: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -385,116 +482,19 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: false
- 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: 138; 226; 52
Max Intensity: 1
Min Color: 239; 41; 41
Min Intensity: 0.800000011920929
Name: GraspQuality
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
- Class: rviz/MarkerArray
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
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
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Marker Topic: visualization_marker_array
Name: Markers
Namespaces:
bbox: true
grasp: true
grasps: true
path: true
views: true
workspace: true
Queue Size: 100
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -523,68 +523,65 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
- Alpha: 0.05000000074505806
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: distance
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: true
Frame Timeout: 15
Frames:
All Enabled: false
camera_depth_optical_frame:
Value: true
panda_hand:
Value: true
panda_leftfinger:
Value: false
panda_link0:
Value: true
panda_link1:
Value: false
panda_link2:
Value: false
panda_link3:
Value: false
panda_link4:
Value: false
panda_link5:
Value: false
panda_link6:
Value: false
panda_link7:
Value: false
panda_link8:
Value: false
panda_rightfinger:
Value: false
task:
Value: true
world:
Value: false
Marker Alpha: 1
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: false
Show Axes: true
Show Names: false
Tree:
world:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
camera_depth_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
task:
{}
Update Interval: 0
Invert Rainbow: false
Max Color: 0; 255; 0
Max Intensity: 1
Min Color: 255; 0; 0
Min Intensity: 0.5
Name: GraspQuality
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: true
Enabled: true
Global Options:
@@ -614,7 +611,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.710027813911438
Distance: 1.7602970600128174
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -622,17 +619,17 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.17848753929138184
Y: 0.3464738428592682
Z: 0.36626341938972473
X: 0.23816421627998352
Y: 0.3857060968875885
Z: 0.35086870193481445
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.25500035285949707
Pitch: 0.22000055015087128
Target Frame: <Fixed Frame>
Yaw: 5.125002384185791
Yaw: 5.094988822937012
Saved: ~
Window Geometry:
ColorImage:
@@ -643,12 +640,12 @@ Window Geometry:
collapsed: false
Height: 965
Hide Left Dock: false
Hide Right 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:
@@ -658,5 +655,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1379
X: 824
Y: 205
X: 1070
Y: 288