From: Walter Fetter Lages Date: Wed, 26 Jun 2019 22:53:41 +0000 (-0300) Subject: Fix display.launch to work with real robot. Change joint_state_publisher rate to... X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=276c33e07f0fa9e9c7e77c306700da2439f9e333;p=ufrgs_wam.git Fix display.launch to work with real robot. Change joint_state_publisher rate to 250 Hz. --- diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch index dbd6912..7f17b9d 100644 --- a/wam_description/launch/display.launch +++ b/wam_description/launch/display.launch @@ -1,14 +1,17 @@ - + - + + ["/wam/joint_states","/bhand/joint_states"] + + diff --git a/wam_description/rviz/display.rviz b/wam_description/rviz/display.rviz index 6ae11f5..738b415 100644 --- 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: 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