From e023f681b34663f15088f25f1cf5f2541df95a57 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Sat, 5 Nov 2022 08:14:01 -0700 Subject: [PATCH] Add rviz visualization config file --- stretch_demos/launch/dock_robot.launch | 5 + stretch_demos/rviz/dock_robot.rviz | 492 +++++++++++++++++++++++++ 2 files changed, 497 insertions(+) create mode 100644 stretch_demos/rviz/dock_robot.rviz diff --git a/stretch_demos/launch/dock_robot.launch b/stretch_demos/launch/dock_robot.launch index c846932..e5b0efd 100644 --- a/stretch_demos/launch/dock_robot.launch +++ b/stretch_demos/launch/dock_robot.launch @@ -1,5 +1,6 @@ + @@ -37,4 +38,8 @@ + + + + diff --git a/stretch_demos/rviz/dock_robot.rviz b/stretch_demos/rviz/dock_robot.rviz new file mode 100644 index 0000000..ced2fab --- /dev/null +++ b/stretch_demos/rviz/dock_robot.rviz @@ -0,0 +1,492 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 1079 + - 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: PointCloud2 +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_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_straight_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_pitch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_roll: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw_bottom: + 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 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.1299999952316284 + Min Value: -0.05000000074505806 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /funmap/point_cloud2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /funmap/navigation_plan_markers + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /funmap/voi_marker + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /frustum_marker/depth_camera + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /frustum_marker/color_camera + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.004000000189989805 + Style: Flat Squares + Topic: /camera/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Angle Tolerance: 0.009999999776482582 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: false + Keep: 1 + Name: Odometry + Position Tolerance: 0.009999999776482582 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /odometry/filtered + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + 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: 10 + 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 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Yaw: 0.7853981852531433 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001c2000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000838000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2560 + X: 0 + Y: 27