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Add description view files #435

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merged 2 commits into from
Jul 2, 2019
Merged

Add description view files #435

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bd33802
Added view_x.launch files for all descriptions to easily check them.
fmauch Jul 2, 2019
05d5e8c
Add dependencies for view_x.launch files to the description packages
fmauch Jul 2, 2019
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184 changes: 184 additions & 0 deletions ur_description/cfg/view_robot.rviz
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Original file line number Diff line number Diff line change
@@ -0,0 +1,184 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 787
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679
- 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: 0.03
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:
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_6:
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
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
/base_link:
Value: true
/link_1:
Value: true
/link_2:
Value: true
/link_3:
Value: true
/link_4:
Value: true
/link_5:
Value: true
/link_6:
Value: true
/tool0:
Value: true
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
/base_link:
/link_1:
/link_2:
/link_3:
/link_4:
/link_5:
/link_6:
/tool0:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: /base_link
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.115398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.930399
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1000
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000013c000003a2fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003a2000000dd00ffffff000000010000010f000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000003a2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f700fffffffb0000000800540069006d00650100000000000004500000000000000000000002a9000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1280
X: 60
Y: 60
10 changes: 10 additions & 0 deletions ur_description/launch/view_ur10.launch
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<?xml version="1.0"?>
<launch>
<include file="$(find ur_description)/launch/ur10_upload.launch"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
4 changes: 3 additions & 1 deletion ur_description/launch/test.launch → ur_description/launch/view_ur3.launch
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@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
<include file="$(find ur_description)/launch/ur3_upload.launch"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
4 changes: 3 additions & 1 deletion ur_e_description/launch/test.launch → ur_description/launch/view_ur5.launch
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@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
<include file="$(find ur_description)/launch/ur5_upload.launch"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
3 changes: 3 additions & 0 deletions ur_description/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,9 @@
<url type="website">http://ros.org/wiki/ur_description</url>

<buildtool_depend>catkin</buildtool_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>urdf</run_depend>
<run_depend>xacro</run_depend>

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