diff --git a/ur_description/cfg/view_robot.rviz b/ur_description/cfg/view_robot.rviz new file mode 100644 index 0000000000000000000000000000000000000000..eca0bdce6e7ddda7a96873061ab7aa12e7934d84 --- /dev/null +++ b/ur_description/cfg/view_robot.rviz @@ -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 diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch new file mode 100644 index 0000000000000000000000000000000000000000..1416e47a59d0a7fe13de629a5e18357cf05b44c5 --- /dev/null +++ b/ur_description/launch/view_ur10.launch @@ -0,0 +1,10 @@ +<?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 $(find ur_description)/cfg/view_robot.rviz" required="true" /> +</launch> diff --git a/ur_description/launch/test.launch b/ur_description/launch/view_ur3.launch similarity index 60% rename from ur_description/launch/test.launch rename to ur_description/launch/view_ur3.launch index 2d58158c79b3ed20fec4aa3c733ab27214ecaab1..9b487245de16a117f2272ca54d8bc79052c8f8dd 100644 --- a/ur_description/launch/test.launch +++ b/ur_description/launch/view_ur3.launch @@ -1,8 +1,10 @@ <?xml version="1.0"?> <launch> + <include file="$(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 $(find ur_description)/cfg/view_robot.rviz" required="true" /> </launch> diff --git a/ur_e_description/launch/test.launch b/ur_description/launch/view_ur5.launch similarity index 60% rename from ur_e_description/launch/test.launch rename to ur_description/launch/view_ur5.launch index 2d58158c79b3ed20fec4aa3c733ab27214ecaab1..cae16dba84999e4eeabe85c8d5d6c733d7d14a8f 100644 --- a/ur_e_description/launch/test.launch +++ b/ur_description/launch/view_ur5.launch @@ -1,8 +1,10 @@ <?xml version="1.0"?> <launch> + <include file="$(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> diff --git a/ur_e_description/cfg/view_robot.rviz b/ur_e_description/cfg/view_robot.rviz new file mode 100644 index 0000000000000000000000000000000000000000..eca0bdce6e7ddda7a96873061ab7aa12e7934d84 --- /dev/null +++ b/ur_e_description/cfg/view_robot.rviz @@ -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 diff --git a/ur_e_description/launch/view_ur10e.launch b/ur_e_description/launch/view_ur10e.launch new file mode 100644 index 0000000000000000000000000000000000000000..d80983873e874da828c2add844f7838d5d2625e8 --- /dev/null +++ b/ur_e_description/launch/view_ur10e.launch @@ -0,0 +1,10 @@ +<?xml version="1.0"?> +<launch> + <include file="$(find ur_e_description)/launch/ur10e_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 $(find ur_e_description)/cfg/view_robot.rviz" required="true" /> +</launch> diff --git a/ur_e_description/launch/view_ur3e.launch b/ur_e_description/launch/view_ur3e.launch new file mode 100644 index 0000000000000000000000000000000000000000..560020010c5a32331f2346ba45e3c18b0bc26fd7 --- /dev/null +++ b/ur_e_description/launch/view_ur3e.launch @@ -0,0 +1,10 @@ +<?xml version="1.0"?> +<launch> + <include file="$(find ur_e_description)/launch/ur3e_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 $(find ur_e_description)/cfg/view_robot.rviz" required="true" /> +</launch> diff --git a/ur_e_description/launch/view_ur5e.launch b/ur_e_description/launch/view_ur5e.launch new file mode 100644 index 0000000000000000000000000000000000000000..f849247c960c6f0e84ad5429c59353d08270e786 --- /dev/null +++ b/ur_e_description/launch/view_ur5e.launch @@ -0,0 +1,10 @@ +<?xml version="1.0"?> +<launch> + <include file="$(find ur_e_description)/launch/ur5e_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_e_description)/cfg/view_robot.rviz" required="true" /> +</launch>