Cleanup

launch/panda_visualization.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
-  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d /home/michel/catkin_ws/src/active_grasp/launch/panda_visualization.rviz" />
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" />
 </launch>

launch/panda_visualization.rviz

@@ -5,6 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /RobotModel1/Status1
+        - /TF1/Frames1
       Splitter Ratio: 0.5
     Tree Height: 549
   - Class: rviz/Selection
@@ -61,6 +63,16 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        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
@@ -106,12 +118,32 @@ Visualization Manager:
           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
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Alpha: 1
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
     - Class: rviz/InteractiveMarkers
       Enable Transparency: true
       Enabled: true
@@ -149,7 +181,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.841537594795227
+      Distance: 1.2702323198318481
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -165,9 +197,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.29539811611175537
+      Pitch: 0.38539746403694153
       Target Frame: <Fixed Frame>
-      Yaw: 5.128592014312744
+      Yaw: 5.683584213256836
     Saved: ~
 Window Geometry:
   Displays:
@@ -185,5 +217,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1200
-  X: 646
-  Y: 193
+  X: 1045
+  Y: 249