Fix display.launch to work with real robot. Change joint_state_publisher rate to...

diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch
index dbd6912..7f17b9d 100644 (file)
--- a/wam_description/launch/display.launch
+++ b/wam_description/launch/display.launch
@@ -1,14 +1,17 @@
 <launch>
        <arg name="table" default="true"/>
        <arg name="bhand" default="true"/>
-       <arg name="use_gui" default="true"/>
+       <arg name="use_gui" default="false"/>
 
        <include file="$(find wam_description)/launch/wam.launch" >
                <arg name="table" value="$(arg table)" />
                <arg name="bhand" value="$(arg bhand)" />
        </include>
 
-       <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=true" />
+       <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=$(arg use_gui)" >
+               <rosparam param="source_list">["/wam/joint_states","/bhand/joint_states"]</rosparam>
+               <param name="rate" value="250" />
+       </node>
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 

diff --git a/wam_description/rviz/display.rviz b/wam_description/rviz/display.rviz
index 6ae11f5..738b415 100644 (file)
--- a/wam_description/rviz/display.rviz
+++ b/wam_description/rviz/display.rviz
@@ -6,9 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Grid1
       Splitter Ratio: 0.5
-    Tree Height: 553
+    Tree Height: 558
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -17,7 +16,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -28,6 +27,8 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Visualization Manager:
   Class: ""
   Displays:
@@ -37,7 +38,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.03
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -59,6 +60,90 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        bhand_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger1_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger1_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger1_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger2_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger2_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger2_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger3_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger3_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger3_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        leg1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg4_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        table_top_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         wam_link_1:
           Alpha: 1
           Show Axes: false
@@ -74,11 +159,19 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        wam_link_3_virtual:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         wam_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        wam_link_4_virtual:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         wam_link_5:
           Alpha: 1
           Show Axes: false
@@ -98,7 +191,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
+        wam_link_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         wam_origin:
           Alpha: 1
           Show Axes: false
@@ -107,7 +203,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -117,7 +216,8 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: wam_origin
+    Default Light: true
+    Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
@@ -138,22 +238,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10
+      Distance: 4.747800827026367
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: 0.3066835403442383
+        Y: 0.3576655685901642
+        Z: 1.0682051181793213
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.785398
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3953981399536133
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398
+      Yaw: 3.848580837249756
     Saved: ~
 Window Geometry:
   Displays:
@@ -161,7 +264,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000038000002b6000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000002b60000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024200fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -171,5 +274,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 476
-  Y: 54
+  X: 1996
+  Y: 62