it <insert expletive> works!
This commit is contained in:
Bastian Hofmann
parent
cf9b2feb9b
commit
49c8a25111
@ -1,13 +1,13 @@
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moveit_setup_assistant_config:
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urdf:
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package: iisy_config
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relative_path: urdf/iisy_xacro.urdf
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package: iisy_config_2
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relative_path: config/iisy.urdf
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srdf:
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relative_path: config/iisy.srdf
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package_settings:
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author_name: Bastian Hofmann
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author_email: bhogm4@gmail.com
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generated_timestamp: 1676632718
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generated_timestamp: 1677166762
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control_xacro:
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command:
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- position
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@ -1 +1,4 @@
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{}
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arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.0050000000000000001
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kinematics_solver_timeout: 0.0050000000000000001
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@ -1,281 +1,51 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 70
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /MotionPlanning1
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- /InteractiveMarkers1
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Splitter Ratio: 0.5
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Tree Height: 163
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- Class: rviz_common/Help
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Name: Help
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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- Class: rviz_default_plugins/Grid
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Acceleration_Scaling_Factor: 0.1
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Cartesian_Path: false
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MoveIt_Use_Constraint_Aware_IK: false
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MoveIt_Workspace:
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Center:
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X: 0
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Y: 0
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Z: 0
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Size:
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X: 2
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Y: 2
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Z: 2
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- Class: moveit_rviz_plugin/MotionPlanning
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Name: MotionPlanning
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Planned Path:
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Color Enabled: false
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Interrupt Display: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_bottom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_top:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1_full:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2_bottom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2_top:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3_bottom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3_top:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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table:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Loop Animation: true
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Robot Alpha: 0.5
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Robot Color: 150; 50; 150
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 0.05 s
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Trail Step Size: 1
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Trajectory Topic: display_planned_path
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Use Sim Time: false
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Planning Metrics:
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Payload: 1
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Show Joint Torques: false
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.07999999821186066
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0
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Joint Violation Color: 255; 0; 255
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Planning Group: arm
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Query Goal State: true
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Query Start State: false
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Show Workspace: false
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Start State Alpha: 1
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Start State Color: 0; 255; 0
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Planning Scene Topic: monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 1
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Scene Color: 50; 230; 50
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Scene Display Time: 0.009999999776482582
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_bottom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_top:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1_full:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2_bottom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2_top:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3_bottom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3_top:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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table:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Robot Alpha: 0.5
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Show Robot Collision: false
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Show Robot Visual: true
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Value: true
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Velocity_Scaling_Factor: 0.9999999999999999
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- Class: rviz_default_plugins/InteractiveMarkers
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Enable Transparency: true
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Enabled: true
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Interactive Markers Namespace: ""
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Name: InteractiveMarkers
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Show Axes: false
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Show Descriptions: true
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Show Visual Aids: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 4.384417533874512
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Distance: 2.0
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Focal Point:
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X: -0.10000000149011612
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X: -0.1
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Y: 0.25
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Z: 0.30000001192092896
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Z: 0.30
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.4799998998641968
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Pitch: 0.5
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Target Frame: world
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Value: Orbit (rviz_default_plugins)
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Yaw: 3.7451796531677246
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Saved: ~
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Yaw: -0.623
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Window Geometry:
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Displays:
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collapsed: false
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Height: 975
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Help:
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collapsed: false
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Hide Left Dock: false
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Hide Right Dock: false
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MotionPlanning:
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collapsed: false
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MotionPlanning - Trajectory Slider:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000100000000000002b400000379fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb000000100044006900730070006c006100790073010000003b00000124000000c700fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000165000001930000016a00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fe000000b6000000a000ffffff000001f60000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Views:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Width: 1200
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X: 1360
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Y: 388
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@ -24,9 +24,11 @@ int main(int argc, char * argv[])
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msg.orientation.w = 1.0;
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msg.position.x = 0.25;
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msg.position.y = 0.25;
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msg.position.z = 0.0;
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msg.position.z = 1.25;
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return msg;
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}();
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move_group_interface.setGoalOrientationTolerance(100000);
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move_group_interface.setPoseTarget(target_pose);
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//std::map<std::string,double> states = {
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