From 86d08b00024e1efbea1d5d13ee8f87a29351eb6a Mon Sep 17 00:00:00 2001 From: Abdurrahman Yilmaz Date: Mon, 30 Sep 2024 10:56:17 +0100 Subject: [PATCH] RViz background for outdoor studies --- franka_moveit_config/rviz/moveit.rviz | 98 +++++++++++++++++++-------- 1 file changed, 68 insertions(+), 30 deletions(-) diff --git a/franka_moveit_config/rviz/moveit.rviz b/franka_moveit_config/rviz/moveit.rviz index c10e62c..5c2aba6 100644 --- a/franka_moveit_config/rviz/moveit.rviz +++ b/franka_moveit_config/rviz/moveit.rviz @@ -1,16 +1,18 @@ Panels: - Class: rviz_common/Displays - Help Height: 78 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: + - /Global Options1 - /MarkerArray1 - /PlanningScene1 - /Pose1 - - /TF1 - - /TF1/Frames1 + - /Image1 + - /Image1/Topic1 + - /PoseArray1 Splitter Ratio: 0.5 - Tree Height: 907 + Tree Height: 632 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -365,11 +367,11 @@ Visualization Manager: Frames: All Enabled: false camera: - Value: true + Value: false camera_lens: Value: false camera_optical: - Value: false + Value: true panda_link0: Value: true panda_link1: @@ -387,35 +389,69 @@ Visualization Manager: panda_link7: Value: false panda_link8: - Value: true + Value: false plant: - Value: true + Value: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: - panda_link0: - panda_link1: - panda_link2: - panda_link3: - panda_link4: - panda_link5: - panda_link6: - panda_link7: - panda_link8: - camera: - camera_lens: - camera_optical: - {} plant: - {} + panda_link0: + panda_link1: + panda_link2: + panda_link3: + panda_link4: + panda_link5: + panda_link6: + panda_link7: + panda_link8: + camera: + camera_lens: + camera_optical: + {} Update Interval: 0 Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /image_color + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lattice_pose_array + Value: false Enabled: true Global Options: - Background Color: 48; 48; 48 + Background Color: 255; 255; 255 Fixed Frame: panda_link0 Frame Rate: 30 Name: root @@ -459,25 +495,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 2.655773401260376 + Distance: 1.6765280961990356 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.02386285550892353 - Y: 0.15478567779064178 - Z: 0.039489321410655975 + X: 0.37200048565864563 + Y: -0.2571171820163727 + Z: 0.049729373306035995 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7403981685638428 + Pitch: 0.46040067076683044 Target Frame: Value: Orbit (rviz) - Yaw: 5.028563022613525 + Yaw: 2.2366816997528076 Saved: ~ Window Geometry: Displays: @@ -485,11 +521,13 @@ Window Geometry: Height: 1136 Hide Left Dock: false Hide Right Dock: true + Image: + collapsed: false MotionPlanning: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 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 + QMainWindow State: 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 Selection: collapsed: false Tool Properties: