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Cleanup

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This commit is contained in:
Michel Breyer
2021-07-06 14:00:04 +02:00
parent 12ae207b5b
commit 9a03a26172
10 changed files with 445 additions and 423 deletions
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11
launch/simulation.launch → launch/active_grasp.launch
View File

@@ -1,19 +1,12 @@
<?xml version="1.0" ?>
<launch>
<!-- Arguments -->
<arg name="launch_rviz" default="true" />
<!-- Load parameters. -->
<rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
<!-- Bringup the robot -->
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="simulation" args="--gui" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
<!-- Launch MoveIt -->
<!-- <include file="$(find panda_moveit_config)/launch/move_group.launch" /> -->
<!-- Visualize the robot. -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" if="$(arg launch_rviz)" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
</launch>

103
launch/panda_visualization.rviz → launch/active_grasp.rviz
View File

@@ -4,9 +4,9 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Tree1
Splitter Ratio: 0.5
Tree Height: 549
Tree Height: 547
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -25,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Scene Cloud
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -137,13 +137,13 @@ Visualization Manager:
Frames:
All Enabled: false
cam_optical_frame:
Value: true
Value: false
panda_hand:
Value: true
Value: false
panda_leftfinger:
Value: false
panda_link0:
Value: true
Value: false
panda_link1:
Value: false
panda_link2:
@@ -164,6 +164,8 @@ Visualization Manager:
Value: false
task:
Value: true
world:
Value: true
Marker Alpha: 1
Marker Scale: 0.5
Name: TF
@@ -171,34 +173,27 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
cam_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
world:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
cam_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
task:
{}
Update Interval: 0
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /workspace
Name: Workspace
Namespaces:
"": true
Queue Size: 100
Value: true
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
@@ -214,7 +209,9 @@ Visualization Manager:
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: TSDF
Position Transformer: XYZ
Queue Size: 10
@@ -243,7 +240,7 @@ Visualization Manager:
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Scene Cloud
Name: SceneCloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
@@ -255,12 +252,36 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: EETarget
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /command
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /path
Name: CameraPath
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /grasps
Name: Predicted Grasps
Name: PredictedGrasps
Namespaces:
"": true
{}
Queue Size: 100
Value: true
Enabled: true
@@ -291,7 +312,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.5115783214569092
Distance: 1.5376757383346558
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -307,17 +328,17 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.20979644358158112
Pitch: 0.21479728817939758
Target Frame: <Fixed Frame>
Yaw: 5.238524913787842
Yaw: 5.193514823913574
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Height: 844
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000156000002aefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ae000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002ae00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -326,6 +347,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1200
X: 720
Y: 27
Width: 1267
X: 100
Y: 457