Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.5
Tree Height: 378
- Class: rviz_common/Help
Name: Help
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.05000000074505806
Joint Violation Color: 255; 0; 255
Planning Group: e1_group
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Name: Trajectory
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Use Sim Time: false
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
c1_link:
Value: true
c2_link:
Value: true
c3_link:
Value: true
c4_link:
Value: true
c5_link:
Value: true
c6_link:
Value: true
e1_link:
Value: true
e2_link:
Value: true
e3_link:
Value: true
e4_link:
Value: true
e5_link:
Value: true
e6_link:
Value: true
f1_link:
Value: true
f2_link:
Value: true
f3_link:
Value: true
f4_link:
Value: true
f5_link:
Value: true
f6_link:
Value: true
t1_link:
Value: true
t2_link:
Value: true
t3_link:
Value: true
t4_link:
Value: true
t5_link:
Value: true
t6_link:
Value: true
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
c1_link:
f1_link:
t1_link:
e1_link:
{}
c2_link:
f2_link:
t2_link:
e2_link:
{}
c3_link:
f3_link:
t3_link:
e3_link:
{}
c4_link:
f4_link:
t4_link:
e4_link:
{}
c5_link:
f5_link:
t5_link:
e5_link:
{}
c6_link:
f6_link:
t6_link:
e6_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.6329568028450012
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.07758110761642456
Y: 0.08254023641347885
Z: 0.09184139221906662
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5400001406669617
Target Frame: base_link
Value: Orbit (rviz_default_plugins)
Yaw: 2.3151493072509766
Saved: ~
Window Geometry:
" - Trajectory Slider":
collapsed: false
Displays:
collapsed: false
Height: 1287
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002b4000004a9fc0200000006fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400fffffffb000000100044006900730070006c006100790073010000003f00000200000000cc00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000245000001a10000019600fffffffb0000000800480065006c0070000000029a0000006e0000006f00fffffffb0000000a0056006900650077007301000003ec000000fc000000a900fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400ffffff0000063e000004a900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 2296
X: 0
Y: 32