Fix mtc.rviz config

ubi-agni · Mar 13, 2024 · e1b891b · e1b891b
1 parent 0c4b4fc
commit e1b891b
Showing 1 changed file with 116 additions and 83 deletions.
diff --git a/demo/config/mtc.rviz b/demo/config/mtc.rviz
@@ -1,52 +1,56 @@
 Panels:
-  - Class: rviz/Displays
-    Help Height: 84
+  - Class: rviz_common/Displays
+    Help Height: 78
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /Global Options1
+        - /Status1
         - /Motion Planning Tasks1
-      Splitter Ratio: 0.5393258333206177
-    Tree Height: 597
-  - Class: rviz/Help
-    Name: Help
-  - Class: rviz/Views
+        - /PlanningScene1
+      Splitter Ratio: 0.5
+    Tree Height: 439
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: moveit_task_constructor/Motion Planning Tasks
     Global Settings:
       Task View Settings:
-        Old task handling: Keep
         Show Computation Times: true
         Task Expansion: All Expanded
     Name: Motion Planning Tasks
     Tasks View:
       property_splitter:
-        - 600
-        - 0
+        - 197
+        - 121
       solution_sorting:
-        column: 1
-        order: 0
+        column: 0
+        order: 1
       solutions_splitter:
-        - 223
-        - 72
+        - 397
+        - 198
       solutions_view_columns: ~
       tasks_view_columns:
-        - 107
-        - 38
-        - 38
-        - 38
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
+        - 295
+        - 26
+        - 26
+        - 48
 Visualization Manager:
   Class: ""
   Displays:
     - Alpha: 0.5
       Cell Size: 1
-      Class: rviz/Grid
+      Class: rviz_default_plugins/Grid
       Color: 160; 160; 164
       Enabled: true
       Line Style:
@@ -62,21 +66,16 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: moveit_rviz_plugin/PlanningScene
+    - Class: moveit_task_constructor/Motion Planning Tasks
       Enabled: true
-      Move Group Namespace: ""
-      Name: PlanningScene
-      Planning Scene Topic: move_group/monitored_planning_scene
-      Robot Description: robot_description
-      Scene Geometry:
-        Scene Alpha: 0.8999999761581421
-        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
+      Interrupt Display: false
+      Loop Animation: false
+      Markers:
+        All at once?: false
+        Value: true
+      Name: Motion Planning Tasks
+      Robot:
+        Fixed Robot Color: 150; 50; 150
         Links:
           All Links Enabled: true
           Expand Joint Details: false
@@ -142,20 +141,41 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-        Robot Alpha: 1
+        Robot Alpha: 0.5
         Show Robot Collision: false
         Show Robot Visual: true
+        Use Fixed Robot Color: false
+        Value: ""
+      Robot Description: robot_description
+      Scene:
+        Attached Body Color: 150; 50; 150
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Value: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Show Trail: false
+      State Display Time: 0.05 s
+      Task Solution Topic: /solution
+      Tasks:
+        Cartesian Path: 0
+      Trail Step Size: 1
       Value: true
-    - Class: moveit_task_constructor/Motion Planning Tasks
+    - Class: moveit_rviz_plugin/PlanningScene
       Enabled: true
-      Interrupt Display: false
-      Loop Animation: false
-      Markers:
-        All at once?: false
-        Value: true
-      Name: Motion Planning Tasks
-      Robot:
-        Fixed Robot Color: 150; 50; 150
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        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
@@ -224,74 +244,87 @@ Visualization Manager:
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true
-        Use Fixed Robot Color: false
-        Value: ""
-      Robot Description: robot_description
-      Scene:
-        Attached Body Color: 150; 50; 150
-        Scene Alpha: 0.8999999761581421
-        Scene Color: 50; 230; 50
-        Value: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
-      Show Trail: false
-      State Display Time: REALTIME
-      Task Solution Topic: /mtc_tutorial/solution
-      Tasks:
-        {}
-      Trail Step Size: 1
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Default Light: true
     Fixed Frame: panda_link0
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/Interact
+    - Class: rviz_default_plugins/Interact
       Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
-      Distance: 1.7952697277069092
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.8008623123168945
       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: 0.18215136229991913
-        Y: 0.0822998434305191
-        Z: 0.374462366104126
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.48479723930358887
-      Target Frame: panda_link0
-      Yaw: 5.5999436378479
+      Pitch: 0.645397961139679
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7453980445861816
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 861
-  Help:
-    collapsed: false
+  Height: 1043
   Hide Left Dock: false
   Hide Right Dock: false
   Motion Planning Tasks:
     collapsed: false
   Motion Planning Tasks - Slider:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
   Views:
     collapsed: false
-  Width: 1450
-  X: 1920
-  Y: 28
+  Width: 1920
+  X: 0
+  Y: 0