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robothon.rviz
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robothon.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /full_cloud1
- /debug_image1
- /TF1/Frames1
- /Image1
Splitter Ratio: 0.6193939447402954
Tree Height: 237
- 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
Name: Time
SyncMode: 0
SyncSource: full_image
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
- Alpha: 1
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: full_cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 1
Size (m): 0.009999999776482582
Style: Squares
Topic: /camera/depth_registered/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: full_image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
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
bracelet_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
end_effector_link:
Alpha: 1
Show Axes: false
Show Trail: false
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
half_arm_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
half_arm_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_inner_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_inner_finger_pad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_inner_knuckle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_outer_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_outer_knuckle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_inner_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_inner_finger_pad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_inner_knuckle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_outer_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_outer_knuckle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_arg2f_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spherical_wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
spherical_wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: /my_gen3/robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: false
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: board_pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/fixed_board_pose
Unreliable: false
Value: false
- Alpha: 1
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: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: debug_pointcloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic: /task_board_detector/debug_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: board_plane
Queue Size: 10
Topic: /task_board_detector/output_plane_polygon
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /visual_servoing_debug_img
Max Value: 1
Median window: 5
Min Value: 0
Name: debug_image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: true
blue_button_link:
Value: true
board_link:
Value: true
bracelet_link:
Value: true
camera_color_frame:
Value: true
camera_depth_frame:
Value: true
camera_link:
Value: true
door_knob_link:
Value: true
end_effector_link:
Value: true
forearm_link:
Value: true
gui_link:
Value: true
half_arm_1_link:
Value: false
half_arm_2_link:
Value: false
left_inner_finger:
Value: false
left_inner_finger_pad:
Value: false
left_inner_knuckle:
Value: false
left_outer_finger:
Value: true
left_outer_knuckle:
Value: true
meter_plug_black_link:
Value: true
meter_plug_red_link:
Value: true
probe_circuit_link:
Value: true
probe_initial_link:
Value: true
probe_placement_link:
Value: true
red_button_link:
Value: true
right_inner_finger:
Value: true
right_inner_finger_pad:
Value: true
right_inner_knuckle:
Value: true
right_outer_finger:
Value: true
right_outer_knuckle:
Value: true
robotiq_arg2f_base_link:
Value: true
shoulder_link:
Value: true
slider_end_link:
Value: true
slider_start_link:
Value: true
spherical_wrist_1_link:
Value: true
spherical_wrist_2_link:
Value: true
tool_frame:
Value: true
wind_cable_link:
Value: true
Marker Alpha: 0.5
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_link:
board_link:
blue_button_link:
{}
door_knob_link:
{}
gui_link:
{}
meter_plug_black_link:
{}
meter_plug_red_link:
{}
probe_circuit_link:
{}
probe_initial_link:
{}
probe_placement_link:
{}
red_button_link:
{}
slider_end_link:
{}
slider_start_link:
{}
wind_cable_link:
{}
shoulder_link:
half_arm_1_link:
half_arm_2_link:
forearm_link:
spherical_wrist_1_link:
spherical_wrist_2_link:
bracelet_link:
end_effector_link:
camera_link:
camera_color_frame:
{}
camera_depth_frame:
{}
robotiq_arg2f_base_link:
left_inner_knuckle:
{}
left_outer_knuckle:
left_outer_finger:
left_inner_finger:
left_inner_finger_pad:
{}
right_inner_knuckle:
{}
right_outer_knuckle:
right_outer_finger:
right_inner_finger:
right_inner_finger_pad:
{}
tool_frame:
{}
Update Interval: 0
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: false
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: slider
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/slider_pose
Unreliable: false
Value: false
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: slider_start
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/slider_start_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: slider_end
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/slider_end_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: door_knob
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/door_knob_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: meter_plug_red
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/meter_plug_red_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: meter_plug_black
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/meter_plug_black_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.004999999888241291
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /task_board_detector/gui_pose
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /task_board_detector/debug_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: 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: 1.0116629600524902
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: 0.5593773126602173
Y: -0.04114372655749321
Z: 0.12262316048145294
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.21979765594005585
Target Frame: <Fixed Frame>
Yaw: 5.116659164428711
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001800000033cfc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000012a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001600640065006200750067005f0069006d006100670065010000016d000000ae0000001600fffffffb0000001400660075006c006c005f0069006d0061006700650100000221000000a00000001600fffffffb0000000a0049006d00610067006501000002c7000000b20000001600fffffffb0000001400660075006c006c005f0069006d00610067006501000001e7000000bf0000000000000000fb0000001600640065006200750067005f0069006d00610067006501000002aa000001100000000000000000000000010000010f00000390fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002e00000390000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c00000005cfc0100000002fb0000000800540069006d00650100000000000003c00000033700fffffffb0000000800540069006d006501000000000000045000000000000000000000023a0000033c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 960
X: 960
Y: 27
debug_image:
collapsed: false
full_image:
collapsed: false