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: 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