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lorepieri8/rvizConfig

Created June 24, 2021 16:52
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rvizConfig
Raw
rvizConfig
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1
- /TF1
- /TF1/Frames1
- /Trajectory1
- /Trajectory1/Links1
- /Trajectory1/Links1/xxx_gripper_base_link1
- /Trajectory1/Links1/tool_tip1
Splitter Ratio: 0.5353535413742065
Tree Height: 752
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- ArUco dictionary: DICT_5X5_250
Class: moveit_rviz_plugin/HandEyeCalibration
Name: HandEyeCalibration
Rx: -0.0798
Ry: 3.1414
Rz: -3.1414
Tx: 0.365
Ty: 0.245
Tz: 0.8248
base: link_base
camera_info_topic: /camera/color/camera_info
eef: link_eef
fov_on_off: true
fov_transparent: 0.1685
group: xarm6
image_topic: /camera/color/image_raw
marker border (bits): 1
marker separation (px): 20
marker size (px): 200
markers, X: 3
markers, Y: 4
measured marker size (m): 0.042000
measured separation (m): 0.004200
object: ""
sensor: camera_color_optical_frame
sensor_mount_type: 0
solver: crigroup/Daniilidis1999
target_type: HandEyeTarget/Aruco
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: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 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: 40
MoveIt_Planning_Time: 40
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
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
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_eef:
Alpha: 1
Show Axes: false
Show Trail: false
xxx_gripper_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tc_link:
Alpha: 1
Show Axes: false
Show Trail: false
tool_tip:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: true
Robot Alpha: 0.20000000298023224
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: false
Show Trail: false
State Display Time: 0.2 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
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: 0.10000000149011612
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: xarm6
Query Goal State: false
Query Start State: false
Show Workspace: false
Start State Alpha: 0.10000000149011612
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
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
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_eef:
Alpha: 1
Show Axes: false
Show Trail: false
xxx_gripper_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tc_link:
Alpha: 1
Show Axes: false
Show Trail: false
tool_tip:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 1
- Class: rviz/Camera
Enabled: true
Image Rendering: background and overlay
Image Topic: /camera/color/image_raw
Name: Camera
Overlay Alpha: 0.20000000298023224
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Grid: true
MotionPlanning: true
TF: true
Trajectory: true
Value: true
Zoom Factor: 1
- Class: rviz/TF
Enabled: true
Frame Timeout: 3
Frames:
All Enabled: false
camera_aligned_depth_to_color_frame:
Value: true
camera_color_frame:
Value: true
camera_color_optical_frame:
Value: true
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_link:
Value: true
link1:
Value: false
link2:
Value: false
link3:
Value: false
link4:
Value: false
link5:
Value: false
link6:
Value: false
link_base:
Value: true
link_eef:
Value: false
xxx_gripper_base_link:
Value: false
tag_72:
Value: true
tag_73:
Value: true
tag_74:
Value: true
tag_75:
Value: true
tc_link:
Value: false
tool_tip:
Value: true
world:
Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
link_base:
camera_color_optical_frame:
tag_72:
{}
tag_73:
{}
tag_74:
{}
tag_75:
{}
link1:
link2:
link3:
link4:
link5:
link6:
link_eef:
{}
xxx_gripper_base_link:
tc_link:
tool_tip:
{}
Update Interval: 0
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: true
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
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_eef:
Alpha: 1
Show Axes: false
Show Trail: false
xxx_gripper_base_link:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
tc_link:
Alpha: 1
Show Axes: false
Show Trail: false
tool_tip:
Alpha: 1
Show Axes: false
Show Trail: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: true
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: 0.1 s
Trail Step Size: 1
Trajectory Topic: /move_group/display_planned_path
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: link_base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 1.6996352672576904
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: 0.14567896723747253
Y: 0.07691903412342072
Z: 2.1570716057794925e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.2697969377040863
Target Frame: world
Yaw: 5.07139778137207
Saved: ~
Window Geometry:
Camera:
collapsed: false
Displays:
collapsed: false
HandEyeCalibration:
collapsed: false
Height: 1016
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: true
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000200000000000002b70000039efc0200000009fc0000003d0000039e000001ff0100001cfa000000030100000004fb0000002400480061006e006400450079006500430061006c006900620072006100740069006f006e0100000000ffffffff000002b700fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000000ffffffff000001f300fffffffb0000002400480061006e006400450079006500430061006c006900620072006100740069006f006e0000000000ffffffff0000000000000000fb000000100044006900730070006c0061007900730100000000000002dd0000015600fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000002400480061006e006400450079006500430061006c006900620072006100740069006f006e0000000253000001880000000000000000fb0000002400480061006e006400450079006500430061006c006900620072006100740069006f006e00000001f9000001e20000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007202000000000000000000000280000001e0fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007202000000480000001b000000ef00000064000000020000026c000001a6fc0100000004fb0000000c00430061006d00650072006101000002bd0000026c0000006900fffffffb0000000c00430061006d00650072006101000002d7000004610000000000000000fb0000000c00430061006d00650072006101000002e3000004550000000000000000fb0000000c00430061006d00650072006101000002e30000045500000000000000000000026c000001f200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: false
Width: 1321
X: 438
Y: 27
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