-
Notifications
You must be signed in to change notification settings - Fork 2
/
urdf.rviz
379 lines (379 loc) · 10.1 KB
/
urdf.rviz
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
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
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Back_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Back_Y_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Back_Z_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Head_Y_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Knee_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_1_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_1_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_2_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_2_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_2_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_3_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_3_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_3_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_4_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_4_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_4_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_5_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_5_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_5_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Elbow_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Elbow_Z_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Shoulder_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Shoulder_Y_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Wrist_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Wrist_Y_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Left_Wrist_Z_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
Neck_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Neck_Z_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Shoulder_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_1_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_1_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_2_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_2_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_2_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_3_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_3_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_3_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_4_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_4_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_4_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_5_1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_5_2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_5_3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Elbow_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Elbow_Z_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Shoulder_Y_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Wrist_X_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Wrist_Y_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Right_Wrist_Z_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
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
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
Topic: /initialpose
- 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: 4.9442935
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.860397816
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.84358358
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24