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Update moveit.rviz to specify valid Fixed Frame #41

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JeremyZoss opened this issue May 31, 2013 · 0 comments

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commented May 31, 2013

The MoveIt package created by the Setup Assistant uses a PR2-specific moveit.rviz file. In general, this is fine, because those values get overwritten by rviz with the correct values for your robot when rviz is run. Simply saving the config file in rviz will replace the PR2 values with the equivalents for your robot.

However, the Displays -> Global Options -> Fixed Frame setting requires the user to manually set it. It's set to "odom_combined" by default, which may not be appropriate for all robots.

It might be nice if this value could be set to a link from the URDF, if one could be easily inferred. I'm thinking that you could use the parent-most link of the planning group, if only one group is present. Or, perhaps the parent link of the virtual joint, if present. Or, maybe we add an editable drop-down selection box, similar to the one in rviz, to let the user set this Fixed Frame while creating the package.

Out of the box, you often cannot interact with a robot using the generated demo.launch file until this Fixed Frame is manually set. It would be more clear if things were ready to go with at least some sort of valid fixed frame for most "simple" robot packages.

See this RosAnswers Question for an example of this confusion.

@ghost ghost assigned isucan Jun 6, 2013

@isucan isucan closed this in e726e56 Jun 6, 2013

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