diff --git a/rviz/display2.rviz b/rviz/display2.rviz new file mode 100644 index 00000000..1154a8b5 --- /dev/null +++ b/rviz/display2.rviz @@ -0,0 +1,774 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /Surface1/Namespaces1 + Splitter Ratio: 0.4228571355342865 + Tree Height: 441 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5899999737739563 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: mc_rtc_rviz_panel/mc_rtc panel + Name: mc_rtc panel +Preferences: + PromptSaveOnExit: false +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz_default_plugins/Axes + Enabled: false + Length: 0.20000000298023224 + Name: Axes + Radius: 0.03999999910593033 + Reference Frame: + Show Trail: false + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 0; 0; 0 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Alpha: 0.5 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + L_ANKLE_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_ANKLE_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_ELBOW_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_ELBOW_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_HIP_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_HIP_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_HIP_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_KNEE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_LINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_LLITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_LTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_SHOULDER_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_SHOULDER_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_SHOULDER_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_UINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_ULITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_UTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_WRIST_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_WRIST_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + NECK_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + NECK_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + NECK_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + PELVIS_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ANKLE_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ANKLE_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_ELBOW_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ELBOW_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_HIP_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_HIP_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_HIP_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_KNEE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_LINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_LLITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_LTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_SHOULDER_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_SHOULDER_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_SHOULDER_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_UINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ULITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_UTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_WRIST_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_WRIST_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + WAIST_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + WAIST_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + WAIST_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + dcamera: + Alpha: 1 + Show Axes: false + Show Trail: false + gsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + gyrometer: + Alpha: 1 + Show Axes: false + Show Trail: false + l_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + l_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + lcamera: + Alpha: 1 + Show Axes: false + Show Trail: false + lfsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + lhsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + r_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + r_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + ranger: + Alpha: 1 + Show Axes: false + Show Trail: false + rcamera: + Alpha: 1 + Show Axes: false + Show Trail: false + rfsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + rhsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: ControlRobotModel + Description Topic: /control/robot_description + TF Prefix: control + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + L_ANKLE_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_ANKLE_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_ELBOW_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_ELBOW_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_HIP_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_HIP_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_HIP_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_KNEE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_LINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_LLITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_LTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_SHOULDER_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_SHOULDER_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_SHOULDER_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_UINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_ULITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_UTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + L_WRIST_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + L_WRIST_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + NECK_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + NECK_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + NECK_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + PELVIS_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ANKLE_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ANKLE_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_ELBOW_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ELBOW_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_HIP_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_HIP_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_HIP_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_KNEE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_LINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_LLITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_LTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_SHOULDER_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_SHOULDER_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_SHOULDER_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_UINDEX_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_ULITTLE_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_UTHUMB_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + R_WRIST_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + R_WRIST_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + WAIST_P_S: + Alpha: 1 + Show Axes: false + Show Trail: false + WAIST_R_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + WAIST_Y_S: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + dcamera: + Alpha: 1 + Show Axes: false + Show Trail: false + gsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + gyrometer: + Alpha: 1 + Show Axes: false + Show Trail: false + l_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + l_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + lcamera: + Alpha: 1 + Show Axes: false + Show Trail: false + lfsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + lhsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + r_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + r_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + ranger: + Alpha: 1 + Show Axes: false + Show Trail: false + rcamera: + Alpha: 1 + Show Axes: false + Show Trail: false + rfsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + rhsensor: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RealRobotModel + Description Topic: /real/robot_description + TF Prefix: real + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: EnvironmentModel + Description Topic: control/env_1/robot_description + TF Prefix: /control/env_1 + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz_default_plugins/InteractiveMarkers + Enable Transparency: true + Enabled: true + Interactive Markers Namespace: /mc_rtc_rviz_interactive_markers + Name: InteractiveMarkers + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /mc_rtc_rviz + Value: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 1000 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Marker Topic: /surfaces + Name: Surface + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: robot_map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + - Class: rviz_default_plugins/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz_default_plugins/SetGoal + Topic: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.5782644748687744 + 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: 0.7032309174537659 + Y: 0.8152596950531006 + Z: 0.5256167054176331 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3998006582260132 + Target Frame: + Yaw: 4.733889579772949 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1492 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1368 + X: 1512 + Y: 54 + mc_rtc panel: + collapsed: false