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runtime/rbs_bringup/config/rbs.rviz
Bill Finger dc628f1387 add launch arguments for gazebo 
Added gazebo gui argument and arguments to start without controllers
2024-02-15 19:46:32 +03:00

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Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.49496981501579285
Tree Height: 985
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- 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
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: MarkerArray
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /display_contacts
Value: true
- Class: moveit_rviz_plugin/PlanningScene
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
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
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: false
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: false
ee_link:
Value: true
fork0_link:
Value: true
fork1_link:
Value: true
fork2_link:
Value: true
main0_link:
Value: true
main1_link:
Value: true
tool0:
Value: false
world:
Value: false
Marker Scale: 0.4000000059604645
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
world:
base_link:
fork0_link:
main0_link:
fork1_link:
main1_link:
fork2_link:
ee_link:
tool0:
{}
Update Interval: 0
Value: true
- 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
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
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/MarkerArray
Enabled: true
Name: MarkerArray
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: workspace
Value: true
- Class: rviz_default_plugins/InteractiveMarkers
Enable Transparency: true
Enabled: true
Interactive Markers Namespace: /motion_controller_handle
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
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
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fork2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
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
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.528358221054077
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.2489434778690338
Y: -0.013962505385279655
Z: 0.13800443708896637
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5803980827331543
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.0903966426849365
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1385
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000025f000004cffc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000af00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006d000004cf0000018000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032c000002170000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007800ffffff0000000100000166000004cffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006d000004cf0000012f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000698000004cf00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: false
Width: 2307
X: 507
Y: 315
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