Update rviz config

2021-10-13 14:56:13 +02:00 · 2021-10-13 14:56:13 +02:00 · 50d18f349b
commit 50d18f349b
parent 05efe83c50
1 changed files with 77 additions and 22 deletions
--- a/launch/active_grasp.rviz
+++ b/launch/active_grasp.rviz
@ -5,7 +5,7 @@ Panels:
    Property Tree Widget:
      Expanded: ~
      Splitter Ratio: 0.49705880880355835
-    Tree Height: 814
+    Tree Height: 534
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@ -25,7 +25,7 @@ Panels:
    Experimental: false
    Name: Time
    SyncMode: 0
-    SyncSource: GraspQuality
+    SyncSource: DepthImage
 Preferences:
  PromptSaveOnExit: true
 Toolbars:
@ -82,8 +82,6 @@ Visualization Manager:
          Value: false
        panda_rightfinger:
          Value: false
-        task:
-          Value: true
        world:
          Value: false
      Marker Alpha: 1
@ -110,8 +108,6 @@ Visualization Manager:
                                {}
                              panda_rightfinger:
                                {}
-            task:
-              {}
      Update Interval: 0
      Value: true
    - Alpha: 1
@ -406,7 +402,7 @@ Visualization Manager:
      Value: false
      Velocity_Scaling_Factor: 0.1
    - Class: moveit_rviz_plugin/PlanningScene
-      Enabled: false
+      Enabled: true
      Move Group Namespace: ""
      Name: PlanningScene
      Planning Scene Topic: move_group/monitored_planning_scene
@ -426,10 +422,74 @@ 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: false
-      Value: false
+      Value: true
    - Class: rviz/Image
      Enabled: false
      Image Topic: /camera/color/image_raw
@ -443,7 +503,7 @@ Visualization Manager:
      Unreliable: false
      Value: false
    - Class: rviz/Image
-      Enabled: false
+      Enabled: true
      Image Topic: /camera/depth/image_rect_raw
      Max Value: 1
      Median window: 5
@ -453,7 +513,7 @@ Visualization Manager:
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
-      Value: false
+      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
@ -487,12 +547,7 @@ Visualization Manager:
      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
    - Alpha: 1
@ -619,17 +674,17 @@ Visualization Manager:
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
-        X: 0.23816421627998352
-        Y: 0.3857060968875885
-        Z: 0.35086870193481445
+        X: 0.10829287022352219
+        Y: 0.31190115213394165
+        Z: 0.30809181928634644
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.22000055015087128
+      Pitch: 0.2100006490945816
      Target Frame: <Fixed Frame>
-      Yaw: 5.094988822937012
+      Yaw: 5.239990234375
    Saved: ~
 Window Geometry:
  ColorImage:
@ -645,7 +700,7 @@ Window Geometry:
    collapsed: false
  MotionPlanning - Trajectory Slider:
    collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
  Selection:
    collapsed: false
  Time: