From be440e3bd0c5820c305f9a7c3d6be2af11650649 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Thu, 6 Oct 2022 19:17:52 -0700 Subject: [PATCH 1/2] Launch file to display description w/fake state --- .../launch/uncalibrated.launch | 20 ++ stretch_description/rviz/stretch.rviz | 330 ++++++++++++++++++ 2 files changed, 350 insertions(+) create mode 100644 stretch_description/launch/uncalibrated.launch create mode 100644 stretch_description/rviz/stretch.rviz diff --git a/stretch_description/launch/uncalibrated.launch b/stretch_description/launch/uncalibrated.launch new file mode 100644 index 0000000..9ce9bde --- /dev/null +++ b/stretch_description/launch/uncalibrated.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 From a83f22c2ce329062289e0d91706c4226b0671eae Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Thu, 10 Nov 2022 14:48:14 -0800 Subject: [PATCH 2/2] Add quick view cmd to Stretch Description readme --- stretch_description/README.md | 16 ++++++++++------ .../{uncalibrated.launch => display.launch} | 0 2 files changed, 10 insertions(+), 6 deletions(-) rename stretch_description/launch/{uncalibrated.launch => display.launch} (100%) 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/uncalibrated.launch b/stretch_description/launch/display.launch similarity index 100% rename from stretch_description/launch/uncalibrated.launch rename to stretch_description/launch/display.launch