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rviz_config_hsr_tiago.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Trajectory1
- /Marker1
- /Marker1/Namespaces1
- /MarkerArray1
- /PlanningScene1
- /RobotState1
Splitter Ratio: 0.5
Tree Height: 875
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
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: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
arm_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_b_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_f_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_imu_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_drive_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_l_passive_wheel_x_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_passive_wheel_y_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_passive_wheel_z_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_r_drive_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_r_passive_wheel_x_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_r_passive_wheel_y_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_r_passive_wheel_z_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_range_sensor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_l_finger_tip_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_finger_vacuum_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_l_mimic_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_spring_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_motor_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_r_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_r_finger_tip_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_mimic_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_spring_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_center_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_center_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_l_stereo_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_l_stereo_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_r_stereo_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_r_stereo_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_rgbd_sensor_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_rgbd_sensor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_ft_sensor_frame:
Alpha: 1
Show Axes: false
Show Trail: false
wrist_ft_sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Name: Trajectory
Robot Alpha: 1
Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.01 s
Trail Step Size: 1
Trajectory Topic: /modulation_rl_ik/traj_visualizer
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /modulation_rl_ik/gripper_goal_visualizer
Name: Marker
Namespaces:
base_actual: true
gripper_goal: true
gripper_goal_input: true
gripper_plan: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /modulation_rl_ik/state_visualizer
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
- Class: moveit_rviz_plugin/PlanningScene
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: /my_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
arm_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_b_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_f_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_imu_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_drive_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_l_passive_wheel_x_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_passive_wheel_y_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_passive_wheel_z_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_r_drive_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_r_passive_wheel_x_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_r_passive_wheel_y_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_r_passive_wheel_z_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_range_sensor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_l_finger_tip_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_finger_vacuum_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_l_mimic_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_spring_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_motor_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_r_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_r_finger_tip_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_mimic_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_spring_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_center_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_center_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_l_stereo_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_l_stereo_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_r_stereo_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_r_stereo_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_rgbd_sensor_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_rgbd_sensor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_ft_sensor_frame:
Alpha: 1
Show Axes: false
Show Trail: false
wrist_ft_sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: false
Value: true
- Attached Body Color: 150; 50; 150
Class: moveit_rviz_plugin/RobotState
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
arm_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_b_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_f_bumper_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_imu_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_drive_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_l_passive_wheel_x_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_passive_wheel_y_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_l_passive_wheel_z_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_r_drive_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_r_passive_wheel_x_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_r_passive_wheel_y_frame:
Alpha: 1
Show Axes: false
Show Trail: false
base_r_passive_wheel_z_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_range_sensor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_l_finger_tip_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_finger_vacuum_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_l_mimic_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_l_spring_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_motor_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_r_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hand_r_finger_tip_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_mimic_distal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
hand_r_spring_proximal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_center_camera_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_center_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_l_stereo_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_l_stereo_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_r_stereo_camera_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_r_stereo_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_rgbd_sensor_gazebo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
head_rgbd_sensor_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_ft_sensor_frame:
Alpha: 1
Show Axes: false
Show Trail: false
wrist_ft_sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotState
Robot Alpha: 1
Robot Description: robot_description
Robot State Topic: /modulation_rl_ik/robot_state_visualizer
Show All Links: true
Show Highlights: true
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 11.6287
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.0
Y: 0.0
Z: 1.0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.95
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1145
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000193000003f6fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000016000003f6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100ffffff000000010000011f00000793fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000001f00000793000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000004afc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a4000003f600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: true
Width: 1853
X: 67
Y: 27