From bd33802bf5fa36a05824dd846c715fc007852278 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Tue, 2 Jul 2019 10:15:34 +0200
Subject: [PATCH] Added view_x.launch files for all descriptions to easily
check them.
This resolves #432
To avoid introducing another dependency, I copied the rviz configuration
from industrial_robot_client.
---
ur_description/cfg/view_robot.rviz | 184 ++++++++++++++++++
ur_description/launch/view_ur10.launch | 10 +
.../launch/{test.launch => view_ur3.launch} | 4 +-
.../launch/view_ur5.launch | 4 +-
ur_e_description/cfg/view_robot.rviz | 184 ++++++++++++++++++
ur_e_description/launch/view_ur10e.launch | 10 +
ur_e_description/launch/view_ur3e.launch | 10 +
ur_e_description/launch/view_ur5e.launch | 10 +
8 files changed, 414 insertions(+), 2 deletions(-)
create mode 100644 ur_description/cfg/view_robot.rviz
create mode 100644 ur_description/launch/view_ur10.launch
rename ur_description/launch/{test.launch => view_ur3.launch} (60%)
rename ur_e_description/launch/test.launch => ur_description/launch/view_ur5.launch (60%)
create mode 100644 ur_e_description/cfg/view_robot.rviz
create mode 100644 ur_e_description/launch/view_ur10e.launch
create mode 100644 ur_e_description/launch/view_ur3e.launch
create mode 100644 ur_e_description/launch/view_ur5e.launch
diff --git a/ur_description/cfg/view_robot.rviz b/ur_description/cfg/view_robot.rviz
new file mode 100644
index 0000000..eca0bdc
--- /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 0000000..1416e47
--- /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 $(find ur_description)/cfg/view_robot.rviz" required="true" />
+</launch>
diff --git a/ur_description/launch/test.launch b/ur_description/launch/view_ur3.launch
similarity index 60%
rename from ur_description/launch/test.launch
rename to ur_description/launch/view_ur3.launch
index 2d58158..9b48724 100644
--- a/ur_description/launch/test.launch
+++ b/ur_description/launch/view_ur3.launch
@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
+ <include file="$(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 $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
diff --git a/ur_e_description/launch/test.launch b/ur_description/launch/view_ur5.launch
similarity index 60%
rename from ur_e_description/launch/test.launch
rename to ur_description/launch/view_ur5.launch
index 2d58158..cae16db 100644
--- a/ur_e_description/launch/test.launch
+++ b/ur_description/launch/view_ur5.launch
@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
+ <include file="$(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 0000000..eca0bdc
--- /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 0000000..d809838
--- /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 $(find ur_e_description)/cfg/view_robot.rviz" required="true" />
+</launch>
diff --git a/ur_e_description/launch/view_ur3e.launch b/ur_e_description/launch/view_ur3e.launch
new file mode 100644
index 0000000..5600200
--- /dev/null
+++ b/ur_e_description/launch/view_ur3e.launch
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+ <include file="$(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 $(find ur_e_description)/cfg/view_robot.rviz" required="true" />
+</launch>
diff --git a/ur_e_description/launch/view_ur5e.launch b/ur_e_description/launch/view_ur5e.launch
new file mode 100644
index 0000000..f849247
--- /dev/null
+++ b/ur_e_description/launch/view_ur5e.launch
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+ <include file="$(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>
--
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