diff --git a/stretch_description/README.md b/stretch_description/README.md
index bf9180e..c2c25b2 100644
--- a/stretch_description/README.md
+++ b/stretch_description/README.md
@@ -2,7 +2,13 @@
## Overview
-*stretch_description* provides materials for a [URDF](http://wiki.ros.org/urdf) kinematic model of the Stretch RE1 mobile manipulator from Hello Robot Inc.
+*stretch_description* provides materials for a [URDF](http://wiki.ros.org/urdf) kinematic model of the Stretch mobile manipulator from Hello Robot Inc.
+
+## Quick View
+
+```
+roslaunch stretch_description display.launch
+```
## Details
@@ -10,7 +16,7 @@ The *meshes directory* contains [STL mesh files](https://en.wikipedia.org/wiki/S
The *urdf directory* contains [xacro files](http://wiki.ros.org/xacro) representing various parts of the robot that are used to generate the robot's URDF.
-stretch_ros expects a URDF with the name stretch.urdf to reside within the urdf directory. The file stretch.urdf serves as the URDF for the robot and must be generated. Typically, it is a calibrated urdf file for the particular Stretch RE1 robot being used. To generate this file, please read the documentation within stretch_ros/stretch_calibration.
+stretch_ros expects a URDF with the name stretch.urdf to reside within the urdf directory. The file stretch.urdf serves as the URDF for the robot and must be generated. Typically, it is a calibrated urdf file unique to the particular Stretch robot being used. To generate this file, please read the documentation within stretch_ros/stretch_calibration.
The xacro_to_urdf.sh will usually only be indirectly run as part of various scripts and launch files within stretch_ros/stretch_calibration.
@@ -20,7 +26,7 @@ Sometimes a stretch_uncalibrated.urdf file will reside with the urdf directory.
Sometimes a URDF is useful outside of ROS, such as for simulations and analysis. Running the *export_urdf.sh* script in the urdf directory will export a full URDF model of the robot based on stretch.urdf.
-The exported URDF will be found within an exported_urdf directory. It is also copied to a directory for your specific robot found under ~/stretch_user. The exported URDF includes meshes and controller calibration YAML files. The exported URDF can be visualized using stretch_urdf_show.py, which is part of the stretch_body Python code.
+The exported URDF will be found within an exported_urdf directory. It is also copied to a directory for your specific robot found under ~/stretch_user. The exported URDF includes meshes and controller calibration YAML files. The exported URDF can be visualized using `stretch_robot_urdf_visualizer.py`, which is part of the stretch_body Python code.
## Changing the Tool
@@ -30,7 +36,7 @@ If you wish to remove the default gripper and add a different tool, you will typ
As an example we provide the xacro `stretch_dry_erase_marker.xacro` and its dependent mesh files with stretch_ros.
-Some of the tools found in the [Stretch Body Tool Share](https://github.com/hello-robot/stretch_tool_share/) include URDF data. To integrate these tools into the URDF for your Stretch
+Some of the tools found in the [Stretch Tool Share](https://github.com/hello-robot/stretch_tool_share/) include URDF data. To integrate these tools into the URDF for your Stretch
```bash
>>$ cd ~/repos
@@ -54,8 +60,6 @@ Now visualize the new tool
>>$ roslaunch stretch_calibration simple_test_head_calibration.launch
```
-
-
## License and Patents
Patents are pending that cover aspects of the Stretch RE1 mobile manipulator.
diff --git a/stretch_description/launch/display.launch b/stretch_description/launch/display.launch
new file mode 100644
index 0000000..9ce9bde
--- /dev/null
+++ b/stretch_description/launch/display.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+
+ zeros:
+ joint_lift: 0.2
+ joint_wrist_yaw: 3.4
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/rviz/stretch.rviz b/stretch_description/rviz/stretch.rviz
new file mode 100644
index 0000000..a1a23aa
--- /dev/null
+++ b/stretch_description/rviz/stretch.rviz
@@ -0,0 +1,330 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 719
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/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
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ 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
+ camera_accel_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_accel_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_bottom_screw_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_color_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_gyro_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_gyro_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra1_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_infra2_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ caster_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_arm_l0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_arm_l1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_arm_l2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_arm_l3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_arm_l4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_aruco_inner_wrist:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_aruco_left_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_aruco_right_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_aruco_shoulder:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_aruco_top_wrist:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_grasp_center:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ link_gripper:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_gripper_finger_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_gripper_finger_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_gripper_fingertip_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_gripper_fingertip_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_head:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_head_pan:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_head_tilt:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_lift:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_mast:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_wrist_yaw:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ respeaker_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 3.0607848167419434
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.7853981852531433
+ Focal Point:
+ X: 0.17513221502304077
+ Y: 0.0775941014289856
+ Z: 0.4477757513523102
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.38979804515838623
+ Target Frame:
+ Yaw: 0.4481166899204254
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1016
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd0000000400000000000001b50000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000057d0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1848
+ X: 72
+ Y: 27