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Unified hexapod repository, containing all modules
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hexapod/hexapod_moveit/config/hexapod_robot.rviz

670 lignes
17KB
Brut Annotations Historique 

  1. Panels:

  2.   - Class: rviz_common/Displays

  3.     Help Height: 70

  4.     Name: Displays

  5.     Property Tree Widget:

  6.       Expanded:

  7.         - /MotionPlanning1

  8.       Splitter Ratio: 0.5

  9.     Tree Height: 378

  10.   - Class: rviz_common/Help

  11.     Name: Help

  12.   - Class: rviz_common/Views

  13.     Expanded:

  14.       - /Current View1

  15.     Name: Views

  16.     Splitter Ratio: 0.5

  17. Visualization Manager:

  18.   Class: ""

  19.   Displays:

  20.     - Alpha: 0.5

  21.       Cell Size: 1

  22.       Class: rviz_default_plugins/Grid

  23.       Color: 160; 160; 164

  24.       Enabled: true

  25.       Line Style:

  26.         Line Width: 0.029999999329447746

  27.         Value: Lines

  28.       Name: Grid

  29.       Normal Cell Count: 0

  30.       Offset:

  31.         X: 0

  32.         Y: 0

  33.         Z: 0

  34.       Plane: XY

  35.       Plane Cell Count: 10

  36.       Reference Frame: <Fixed Frame>

  37.       Value: true

  38.     - Acceleration_Scaling_Factor: 0.1

  39.       Class: moveit_rviz_plugin/MotionPlanning

  40.       Enabled: true

  41.       Move Group Namespace: ""

  42.       MoveIt_Allow_Approximate_IK: false

  43.       MoveIt_Allow_External_Program: false

  44.       MoveIt_Allow_Replanning: false

  45.       MoveIt_Allow_Sensor_Positioning: false

  46.       MoveIt_Planning_Attempts: 10

  47.       MoveIt_Planning_Time: 5

  48.       MoveIt_Use_Cartesian_Path: false

  49.       MoveIt_Use_Constraint_Aware_IK: false

  50.       MoveIt_Workspace:

  51.         Center:

  52.           X: 0

  53.           Y: 0

  54.           Z: 0

  55.         Size:

  56.           X: 2

  57.           Y: 2

  58.           Z: 2

  59.       Name: MotionPlanning

  60.       Planned Path:

  61.         Color Enabled: false

  62.         Interrupt Display: false

  63.         Links:

  64.           All Links Enabled: true

  65.           Expand Joint Details: false

  66.           Expand Link Details: false

  67.           Expand Tree: false

  68.           Link Tree Style: Links in Alphabetic Order

  69.           base_link:

  70.             Alpha: 1

  71.             Show Axes: false

  72.             Show Trail: false

  73.             Value: true

  74.           c1_link:

  75.             Alpha: 1

  76.             Show Axes: false

  77.             Show Trail: false

  78.             Value: true

  79.           c2_link:

  80.             Alpha: 1

  81.             Show Axes: false

  82.             Show Trail: false

  83.             Value: true

  84.           c3_link:

  85.             Alpha: 1

  86.             Show Axes: false

  87.             Show Trail: false

  88.             Value: true

  89.           c4_link:

  90.             Alpha: 1

  91.             Show Axes: false

  92.             Show Trail: false

  93.             Value: true

  94.           c5_link:

  95.             Alpha: 1

  96.             Show Axes: false

  97.             Show Trail: false

  98.             Value: true

  99.           c6_link:

  100.             Alpha: 1

  101.             Show Axes: false

  102.             Show Trail: false

  103.             Value: true

  104.           e1_link:

  105.             Alpha: 1

  106.             Show Axes: false

  107.             Show Trail: false

  108.             Value: true

  109.           e2_link:

  110.             Alpha: 1

  111.             Show Axes: false

  112.             Show Trail: false

  113.             Value: true

  114.           e3_link:

  115.             Alpha: 1

  116.             Show Axes: false

  117.             Show Trail: false

  118.             Value: true

  119.           e4_link:

  120.             Alpha: 1

  121.             Show Axes: false

  122.             Show Trail: false

  123.             Value: true

  124.           e5_link:

  125.             Alpha: 1

  126.             Show Axes: false

  127.             Show Trail: false

  128.             Value: true

  129.           e6_link:

  130.             Alpha: 1

  131.             Show Axes: false

  132.             Show Trail: false

  133.             Value: true

  134.           f1_link:

  135.             Alpha: 1

  136.             Show Axes: false

  137.             Show Trail: false

  138.             Value: true

  139.           f2_link:

  140.             Alpha: 1

  141.             Show Axes: false

  142.             Show Trail: false

  143.             Value: true

  144.           f3_link:

  145.             Alpha: 1

  146.             Show Axes: false

  147.             Show Trail: false

  148.             Value: true

  149.           f4_link:

  150.             Alpha: 1

  151.             Show Axes: false

  152.             Show Trail: false

  153.             Value: true

  154.           f5_link:

  155.             Alpha: 1

  156.             Show Axes: false

  157.             Show Trail: false

  158.             Value: true

  159.           f6_link:

  160.             Alpha: 1

  161.             Show Axes: false

  162.             Show Trail: false

  163.             Value: true

  164.           t1_link:

  165.             Alpha: 1

  166.             Show Axes: false

  167.             Show Trail: false

  168.             Value: true

  169.           t2_link:

  170.             Alpha: 1

  171.             Show Axes: false

  172.             Show Trail: false

  173.             Value: true

  174.           t3_link:

  175.             Alpha: 1

  176.             Show Axes: false

  177.             Show Trail: false

  178.             Value: true

  179.           t4_link:

  180.             Alpha: 1

  181.             Show Axes: false

  182.             Show Trail: false

  183.             Value: true

  184.           t5_link:

  185.             Alpha: 1

  186.             Show Axes: false

  187.             Show Trail: false

  188.             Value: true

  189.           t6_link:

  190.             Alpha: 1

  191.             Show Axes: false

  192.             Show Trail: false

  193.             Value: true

  194.         Loop Animation: true

  195.         Robot Alpha: 0.5

  196.         Robot Color: 150; 50; 150

  197.         Show Robot Collision: false

  198.         Show Robot Visual: true

  199.         Show Trail: false

  200.         State Display Time: 0.05 s

  201.         Trail Step Size: 1

  202.         Trajectory Topic: display_planned_path

  203.         Use Sim Time: false

  204.       Planning Metrics:

  205.         Payload: 1

  206.         Show Joint Torques: false

  207.         Show Manipulability: false

  208.         Show Manipulability Index: false

  209.         Show Weight Limit: false

  210.         TextHeight: 0.07999999821186066

  211.       Planning Request:

  212.         Colliding Link Color: 255; 0; 0

  213.         Goal State Alpha: 1

  214.         Goal State Color: 250; 128; 0

  215.         Interactive Marker Size: 0.05000000074505806

  216.         Joint Violation Color: 255; 0; 255

  217.         Planning Group: e1_group

  218.         Query Goal State: true

  219.         Query Start State: false

  220.         Show Workspace: false

  221.         Start State Alpha: 1

  222.         Start State Color: 0; 255; 0

  223.       Planning Scene Topic: monitored_planning_scene

  224.       Robot Description: robot_description

  225.       Scene Geometry:

  226.         Scene Alpha: 1

  227.         Scene Color: 50; 230; 50

  228.         Scene Display Time: 0.009999999776482582

  229.         Show Scene Geometry: true

  230.         Voxel Coloring: Z-Axis

  231.         Voxel Rendering: Occupied Voxels

  232.       Scene Robot:

  233.         Attached Body Color: 150; 50; 150

  234.         Links:

  235.           All Links Enabled: true

  236.           Expand Joint Details: false

  237.           Expand Link Details: false

  238.           Expand Tree: false

  239.           Link Tree Style: Links in Alphabetic Order

  240.           base_link:

  241.             Alpha: 1

  242.             Show Axes: false

  243.             Show Trail: false

  244.             Value: true

  245.           c1_link:

  246.             Alpha: 1

  247.             Show Axes: false

  248.             Show Trail: false

  249.             Value: true

  250.           c2_link:

  251.             Alpha: 1

  252.             Show Axes: false

  253.             Show Trail: false

  254.             Value: true

  255.           c3_link:

  256.             Alpha: 1

  257.             Show Axes: false

  258.             Show Trail: false

  259.             Value: true

  260.           c4_link:

  261.             Alpha: 1

  262.             Show Axes: false

  263.             Show Trail: false

  264.             Value: true

  265.           c5_link:

  266.             Alpha: 1

  267.             Show Axes: false

  268.             Show Trail: false

  269.             Value: true

  270.           c6_link:

  271.             Alpha: 1

  272.             Show Axes: false

  273.             Show Trail: false

  274.             Value: true

  275.           e1_link:

  276.             Alpha: 1

  277.             Show Axes: false

  278.             Show Trail: false

  279.             Value: true

  280.           e2_link:

  281.             Alpha: 1

  282.             Show Axes: false

  283.             Show Trail: false

  284.             Value: true

  285.           e3_link:

  286.             Alpha: 1

  287.             Show Axes: false

  288.             Show Trail: false

  289.             Value: true

  290.           e4_link:

  291.             Alpha: 1

  292.             Show Axes: false

  293.             Show Trail: false

  294.             Value: true

  295.           e5_link:

  296.             Alpha: 1

  297.             Show Axes: false

  298.             Show Trail: false

  299.             Value: true

  300.           e6_link:

  301.             Alpha: 1

  302.             Show Axes: false

  303.             Show Trail: false

  304.             Value: true

  305.           f1_link:

  306.             Alpha: 1

  307.             Show Axes: false

  308.             Show Trail: false

  309.             Value: true

  310.           f2_link:

  311.             Alpha: 1

  312.             Show Axes: false

  313.             Show Trail: false

  314.             Value: true

  315.           f3_link:

  316.             Alpha: 1

  317.             Show Axes: false

  318.             Show Trail: false

  319.             Value: true

  320.           f4_link:

  321.             Alpha: 1

  322.             Show Axes: false

  323.             Show Trail: false

  324.             Value: true

  325.           f5_link:

  326.             Alpha: 1

  327.             Show Axes: false

  328.             Show Trail: false

  329.             Value: true

  330.           f6_link:

  331.             Alpha: 1

  332.             Show Axes: false

  333.             Show Trail: false

  334.             Value: true

  335.           t1_link:

  336.             Alpha: 1

  337.             Show Axes: false

  338.             Show Trail: false

  339.             Value: true

  340.           t2_link:

  341.             Alpha: 1

  342.             Show Axes: false

  343.             Show Trail: false

  344.             Value: true

  345.           t3_link:

  346.             Alpha: 1

  347.             Show Axes: false

  348.             Show Trail: false

  349.             Value: true

  350.           t4_link:

  351.             Alpha: 1

  352.             Show Axes: false

  353.             Show Trail: false

  354.             Value: true

  355.           t5_link:

  356.             Alpha: 1

  357.             Show Axes: false

  358.             Show Trail: false

  359.             Value: true

  360.           t6_link:

  361.             Alpha: 1

  362.             Show Axes: false

  363.             Show Trail: false

  364.             Value: true

  365.         Robot Alpha: 0.5

  366.         Show Robot Collision: false

  367.         Show Robot Visual: true

  368.       Value: true

  369.       Velocity_Scaling_Factor: 0.1

  370.     - Class: moveit_rviz_plugin/Trajectory

  371.       Color Enabled: false

  372.       Enabled: true

  373.       Interrupt Display: false

  374.       Links:

  375.         All Links Enabled: true

  376.         Expand Joint Details: false

  377.         Expand Link Details: false

  378.         Expand Tree: false

  379.         Link Tree Style: Links in Alphabetic Order

  380.         base_link:

  381.           Alpha: 1

  382.           Show Axes: false

  383.           Show Trail: false

  384.           Value: true

  385.         c1_link:

  386.           Alpha: 1

  387.           Show Axes: false

  388.           Show Trail: false

  389.           Value: true

  390.         c2_link:

  391.           Alpha: 1

  392.           Show Axes: false

  393.           Show Trail: false

  394.           Value: true

  395.         c3_link:

  396.           Alpha: 1

  397.           Show Axes: false

  398.           Show Trail: false

  399.           Value: true

  400.         c4_link:

  401.           Alpha: 1

  402.           Show Axes: false

  403.           Show Trail: false

  404.           Value: true

  405.         c5_link:

  406.           Alpha: 1

  407.           Show Axes: false

  408.           Show Trail: false

  409.           Value: true

  410.         c6_link:

  411.           Alpha: 1

  412.           Show Axes: false

  413.           Show Trail: false

  414.           Value: true

  415.         e1_link:

  416.           Alpha: 1

  417.           Show Axes: false

  418.           Show Trail: false

  419.           Value: true

  420.         e2_link:

  421.           Alpha: 1

  422.           Show Axes: false

  423.           Show Trail: false

  424.           Value: true

  425.         e3_link:

  426.           Alpha: 1

  427.           Show Axes: false

  428.           Show Trail: false

  429.           Value: true

  430.         e4_link:

  431.           Alpha: 1

  432.           Show Axes: false

  433.           Show Trail: false

  434.           Value: true

  435.         e5_link:

  436.           Alpha: 1

  437.           Show Axes: false

  438.           Show Trail: false

  439.           Value: true

  440.         e6_link:

  441.           Alpha: 1

  442.           Show Axes: false

  443.           Show Trail: false

  444.           Value: true

  445.         f1_link:

  446.           Alpha: 1

  447.           Show Axes: false

  448.           Show Trail: false

  449.           Value: true

  450.         f2_link:

  451.           Alpha: 1

  452.           Show Axes: false

  453.           Show Trail: false

  454.           Value: true

  455.         f3_link:

  456.           Alpha: 1

  457.           Show Axes: false

  458.           Show Trail: false

  459.           Value: true

  460.         f4_link:

  461.           Alpha: 1

  462.           Show Axes: false

  463.           Show Trail: false

  464.           Value: true

  465.         f5_link:

  466.           Alpha: 1

  467.           Show Axes: false

  468.           Show Trail: false

  469.           Value: true

  470.         f6_link:

  471.           Alpha: 1

  472.           Show Axes: false

  473.           Show Trail: false

  474.           Value: true

  475.         t1_link:

  476.           Alpha: 1

  477.           Show Axes: false

  478.           Show Trail: false

  479.           Value: true

  480.         t2_link:

  481.           Alpha: 1

  482.           Show Axes: false

  483.           Show Trail: false

  484.           Value: true

  485.         t3_link:

  486.           Alpha: 1

  487.           Show Axes: false

  488.           Show Trail: false

  489.           Value: true

  490.         t4_link:

  491.           Alpha: 1

  492.           Show Axes: false

  493.           Show Trail: false

  494.           Value: true

  495.         t5_link:

  496.           Alpha: 1

  497.           Show Axes: false

  498.           Show Trail: false

  499.           Value: true

  500.         t6_link:

  501.           Alpha: 1

  502.           Show Axes: false

  503.           Show Trail: false

  504.           Value: true

  505.       Loop Animation: false

  506.       Name: Trajectory

  507.       Robot Alpha: 0.5

  508.       Robot Color: 150; 50; 150

  509.       Robot Description: robot_description

  510.       Show Robot Collision: false

  511.       Show Robot Visual: true

  512.       Show Trail: false

  513.       State Display Time: 3x

  514.       Trail Step Size: 1

  515.       Trajectory Topic: /display_planned_path

  516.       Use Sim Time: false

  517.       Value: true

  518.     - Class: rviz_default_plugins/TF

  519.       Enabled: true

  520.       Frame Timeout: 15

  521.       Frames:

  522.         All Enabled: true

  523.         base_link:

  524.           Value: true

  525.         c1_link:

  526.           Value: true

  527.         c2_link:

  528.           Value: true

  529.         c3_link:

  530.           Value: true

  531.         c4_link:

  532.           Value: true

  533.         c5_link:

  534.           Value: true

  535.         c6_link:

  536.           Value: true

  537.         e1_link:

  538.           Value: true

  539.         e2_link:

  540.           Value: true

  541.         e3_link:

  542.           Value: true

  543.         e4_link:

  544.           Value: true

  545.         e5_link:

  546.           Value: true

  547.         e6_link:

  548.           Value: true

  549.         f1_link:

  550.           Value: true

  551.         f2_link:

  552.           Value: true

  553.         f3_link:

  554.           Value: true

  555.         f4_link:

  556.           Value: true

  557.         f5_link:

  558.           Value: true

  559.         f6_link:

  560.           Value: true

  561.         t1_link:

  562.           Value: true

  563.         t2_link:

  564.           Value: true

  565.         t3_link:

  566.           Value: true

  567.         t4_link:

  568.           Value: true

  569.         t5_link:

  570.           Value: true

  571.         t6_link:

  572.           Value: true

  573.       Marker Scale: 0.10000000149011612

  574.       Name: TF

  575.       Show Arrows: true

  576.       Show Axes: true

  577.       Show Names: false

  578.       Tree:

  579.         base_link:

  580.           c1_link:

  581.             f1_link:

  582.               t1_link:

  583.                 e1_link:

  584.                   {}

  585.           c2_link:

  586.             f2_link:

  587.               t2_link:

  588.                 e2_link:

  589.                   {}

  590.           c3_link:

  591.             f3_link:

  592.               t3_link:

  593.                 e3_link:

  594.                   {}

  595.           c4_link:

  596.             f4_link:

  597.               t4_link:

  598.                 e4_link:

  599.                   {}

  600.           c5_link:

  601.             f5_link:

  602.               t5_link:

  603.                 e5_link:

  604.                   {}

  605.           c6_link:

  606.             f6_link:

  607.               t6_link:

  608.                 e6_link:

  609.                   {}

  610.       Update Interval: 0

  611.       Value: true

  612.   Enabled: true

  613.   Global Options:

  614.     Background Color: 48; 48; 48

  615.     Fixed Frame: base_link

  616.     Frame Rate: 30

  617.   Name: root

  618.   Tools:

  619.     - Class: rviz_default_plugins/Interact

  620.       Hide Inactive Objects: true

  621.     - Class: rviz_default_plugins/MoveCamera

  622.     - Class: rviz_default_plugins/Select

  623.   Transformation:

  624.     Current:

  625.       Class: rviz_default_plugins/TF

  626.   Value: true

  627.   Views:

  628.     Current:

  629.       Class: rviz_default_plugins/Orbit

  630.       Distance: 0.6329568028450012

  631.       Enable Stereo Rendering:

  632.         Stereo Eye Separation: 0.05999999865889549

  633.         Stereo Focal Distance: 1

  634.         Swap Stereo Eyes: false

  635.         Value: false

  636.       Focal Point:

  637.         X: -0.07758110761642456

  638.         Y: 0.08254023641347885

  639.         Z: 0.09184139221906662

  640.       Focal Shape Fixed Size: true

  641.       Focal Shape Size: 0.05000000074505806

  642.       Invert Z Axis: false

  643.       Name: Current View

  644.       Near Clip Distance: 0.009999999776482582

  645.       Pitch: 0.5400001406669617

  646.       Target Frame: base_link

  647.       Value: Orbit (rviz_default_plugins)

  648.       Yaw: 2.3151493072509766

  649.     Saved: ~

  650. Window Geometry:

  651.   " - Trajectory Slider":

  652.     collapsed: false

  653.   Displays:

  654.     collapsed: false

  655.   Height: 1287

  656.   Help:

  657.     collapsed: false

  658.   Hide Left Dock: false

  659.   Hide Right Dock: false

  660.   MotionPlanning:

  661.     collapsed: false

  662.   MotionPlanning - Trajectory Slider:

  663.     collapsed: false

  664.   QMainWindow State: 000000ff00000000fd0000000100000000000002b4000004a9fc0200000006fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400fffffffb000000100044006900730070006c006100790073010000003f00000200000000cc00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000245000001a10000019600fffffffb0000000800480065006c0070000000029a0000006e0000006f00fffffffb0000000a0056006900650077007301000003ec000000fc000000a900fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400ffffff0000063e000004a900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000

  665.   Views:

  666.     collapsed: false

  667.   Width: 2296

  668.   X: 0

  669.   Y: 32