cleanup demo

moveit · Feb 18, 2020 · bcc652b · bcc652b
1 parent 8ac9957
commit bcc652b
Show file tree

Hide file tree

Showing 4 changed files with 30 additions and 81 deletions.
diff --git a/demo/CMakeLists.txt b/demo/CMakeLists.txt
@@ -11,8 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
 	rosparam_shortcuts
 )
 
-catkin_package(
-)
+catkin_package()
 
 include_directories(
   include
@@ -25,29 +24,15 @@ target_link_libraries(cartesian ${catkin_LIBRARIES})
 add_executable(modular src/modular.cpp)
 target_link_libraries(modular ${catkin_LIBRARIES})
 
-add_library(${PROJECT_NAME}_lib src/pick_place_task.cpp)
-set_target_properties(${PROJECT_NAME}_lib PROPERTIES OUTPUT_NAME moveit_task_constructor_demo_pick_place)
-add_dependencies(${PROJECT_NAME}_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-add_executable(${PROJECT_NAME}_demo src/moveit_task_constructor_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_demo
-  ${PROJECT_NAME}_lib
-  ${catkin_LIBRARIES}
-)
-set_target_properties(${PROJECT_NAME}_demo PROPERTIES OUTPUT_NAME moveit_task_constructor_demo)
-add_dependencies(${PROJECT_NAME}_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_executable(pick_place_demo src/pick_place_demo.cpp src/pick_place_task.cpp)
+target_link_libraries(pick_place_demo ${catkin_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_demo
+install(TARGETS cartesian modular pick_place_demo
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-)
-
 install(DIRECTORY launch config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/demo/config/mtc.rviz b/demo/config/mtc.rviz
@@ -62,15 +62,38 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      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
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
     - Class: moveit_task_constructor/Motion Planning Tasks
       Enabled: true
       Interrupt Display: false
       Loop Animation: false
       Markers:
         All at once?: false
         Value: true
-        x +0.2: true
-        y -0.3: true
       Name: Motion Planning Tasks
       Robot:
         Fixed Robot Color: 150; 50; 150
@@ -80,65 +103,6 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          panda_hand:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_leftfinger:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link0:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link1:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link2:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link3:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link4:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link5:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link6:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link7:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          panda_link8:
-            Alpha: 1
-            Show Axes: true
-            Show Trail: false
-          panda_rightfinger:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true

diff --git a/demo/launch/pickplace.launch b/demo/launch/pickplace.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Run MTC pick and place -->
-  <node name="mtc_tutorial" pkg="moveit_task_constructor_demo" type="moveit_task_constructor_demo" output="screen">
+  <node name="mtc_tutorial" pkg="moveit_task_constructor_demo" type="pick_place_demo" output="screen">
     <param name="execute" value="true" />
     <rosparam command="load" file="$(find moveit_task_constructor_demo)/config/panda_config.yaml" />
   </node>

diff --git a/demo/src/moveit_task_constructor_demo.cpp → demo/src/pick_place_demo.cpp b/demo/src/moveit_task_constructor_demo.cpp → demo/src/pick_place_demo.cpp