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rviz.rviz 19.6 KiB
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Olivier Stasse's avatar
Introduces talos_gazebo with flexibilities.
Olivier Stasse committed
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Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotModel1/Links1/leg_left_6_link1
        - /RobotModel1/Links1/leg_right_6_link1
        - /TF1/Frames1
        - /Camera1
        - /DepthCloud1
        - /DepthCloud1/Auto Size1
      Splitter Ratio: 0.336673349
    Tree Height: 883
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Camera
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        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: 0.5
      Class: rviz/RobotModel
      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_left_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_left_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_left_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_left_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_left_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_left_6_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_left_7_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_6_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        arm_right_7_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_fingertip_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_fingertip_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_fingertip_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_inner_double_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_inner_single_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_motor_double_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_left_motor_single_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_fingertip_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_fingertip_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_fingertip_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_inner_double_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_inner_single_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_motor_double_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        gripper_right_motor_single_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        head_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_sole_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        leg_left_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_left_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_left_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_left_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_left_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_left_6_link:
          Alpha: 1
          Show Axes: true
          Show Trail: true
          Value: true
        leg_right_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_right_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_right_3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_right_4_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_right_5_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        leg_right_6_link:
          Alpha: 1
          Show Axes: true
          Show Trail: true
          Value: true
        rgbd_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rgbd_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rgbd_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rgbd_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rgbd_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rgbd_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        right_sole_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        torso_1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        torso_2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wrist_left_ft_link:
          Alpha: 1
          Show Axes: true
          Show Trail: true
          Value: true
        wrist_left_ft_tool_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wrist_right_ft_link:
          Alpha: 1
          Show Axes: true
          Show Trail: true
          Value: true
        wrist_right_ft_tool_link:
          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
    - Alpha: 1
      Class: rviz/Effort
      Enabled: true
      History Length: 1
      Joints:
        {}
      Name: Effort
      Robot Description: robot_description
      Scale: 1
      Topic: ""
      Unreliable: false
      Value: true
      Width: 0.0199999996
      arm_left_1_joint:
        Value: true
      arm_left_2_joint:
        Value: true
      arm_left_3_joint:
        Value: false
      arm_left_4_joint:
        Value: false
      arm_left_5_joint:
        Value: false
      arm_left_6_joint:
        Value: false
      arm_left_7_joint:
        Value: false
      arm_right_1_joint:
        Value: true
      arm_right_2_joint:
        Value: true
      arm_right_3_joint:
        Value: true
      arm_right_4_joint:
        Value: true
      arm_right_5_joint:
        Value: false
      arm_right_6_joint:
        Value: false
      arm_right_7_joint:
        Value: false
      gripper_left_fingertip_1_joint:
        Value: false
      gripper_left_fingertip_2_joint:
        Value: false
      gripper_left_fingertip_3_joint:
        Value: false
      gripper_left_inner_double_joint:
        Value: false
      gripper_left_inner_single_joint:
        Value: false
      gripper_left_joint:
        Value: false
      gripper_left_motor_single_joint:
        Value: false
      gripper_right_fingertip_1_joint:
        Value: false
      gripper_right_fingertip_2_joint:
        Value: false
      gripper_right_fingertip_3_joint:
        Value: false
      gripper_right_inner_double_joint:
        Value: false
      gripper_right_inner_single_joint:
        Value: false
      gripper_right_joint:
        Value: false
      gripper_right_motor_single_joint:
        Value: false
      head_1_joint:
        Value: false
      head_2_joint:
        Value: false
      leg_left_1_joint:
        Value: true
      leg_left_2_joint:
        Value: true
      leg_left_3_joint:
        Value: true
      leg_left_4_joint:
        Value: true
      leg_left_5_joint:
        Value: true
      leg_left_6_joint:
        Value: true
      leg_right_1_joint:
        Value: true
      leg_right_2_joint:
        Value: true
      leg_right_3_joint:
        Value: true
      leg_right_4_joint:
        Value: true
      leg_right_5_joint:
        Value: true
      leg_right_6_joint:
        Value: true
      torso_1_joint:
        Value: true
      torso_2_joint:
        Value: true
    - Class: rviz/TF
      Enabled: false
      Frame Timeout: 15
      Frames:
        All Enabled: false
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: false
    - Alpha: 1
      Arrow Width: 0.5
      Class: rviz/WrenchStamped
      Enabled: true
      Force Arrow Scale: 0.0500000007
      Force Color: 204; 51; 51
      History Length: 1
      Name: WrenchStamped
      Topic: /left_wrist_ft
      Torque Arrow Scale: 0.100000001
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.5
      Class: rviz/WrenchStamped
      Enabled: true
      Force Arrow Scale: 0.0500000007
      Force Color: 204; 51; 51
      History Length: 1
      Name: WrenchStamped
      Topic: /right_wrist_ft
      Torque Arrow Scale: 0.100000001
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.5
      Class: rviz/WrenchStamped
      Enabled: true
      Force Arrow Scale: 0.00999999978
      Force Color: 204; 51; 51
      History Length: 1
      Name: WrenchStamped
      Topic: /left_ankle_ft
      Torque Arrow Scale: 0.0500000007
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.5
      Class: rviz/WrenchStamped
      Enabled: true
      Force Arrow Scale: 0.00999999978
      Force Color: 204; 51; 51
      History Length: 1
      Name: WrenchStamped
      Topic: /right_ankle_ft
      Torque Arrow Scale: 0.0500000007
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/Effort
      Enabled: true
      History Length: 1
      Joints:
        {}
      Name: Effort
      Robot Description: robot_description
      Scale: 1
      Topic: /joint_torque_states
      Unreliable: false
      Value: true
      Width: 0.0199999996
      arm_left_1_joint:
        Value: true
      arm_left_2_joint:
        Value: true
      arm_left_3_joint:
        Value: true
      arm_left_4_joint:
        Value: true
      arm_left_5_joint:
        Value: false
      arm_left_6_joint:
        Value: false
      arm_left_7_joint:
        Value: false
      arm_right_1_joint:
        Value: true
      arm_right_2_joint:
        Value: true
      arm_right_3_joint:
        Value: true
      arm_right_4_joint:
        Value: true
      arm_right_5_joint:
        Value: false
      arm_right_6_joint:
        Value: false
      arm_right_7_joint:
        Value: false
      gripper_left_fingertip_1_joint:
        Value: false
      gripper_left_fingertip_2_joint:
        Value: false
      gripper_left_fingertip_3_joint:
        Value: false
      gripper_left_inner_double_joint:
        Value: false
      gripper_left_inner_single_joint:
        Value: false
      gripper_left_joint:
        Value: false
      gripper_left_motor_single_joint:
        Value: false
      gripper_right_fingertip_1_joint:
        Value: false
      gripper_right_fingertip_2_joint:
        Value: false
      gripper_right_fingertip_3_joint:
        Value: false
      gripper_right_inner_double_joint:
        Value: false
      gripper_right_inner_single_joint:
        Value: false
      gripper_right_joint:
        Value: false
      gripper_right_motor_single_joint:
        Value: false
      head_1_joint:
        Value: false
      head_2_joint:
        Value: false
      leg_left_1_joint:
        Value: true
      leg_left_2_joint:
        Value: true
      leg_left_3_joint:
        Value: true
      leg_left_4_joint:
        Value: true
      leg_left_5_joint:
        Value: true
      leg_left_6_joint:
        Value: true
      leg_right_1_joint:
        Value: true
      leg_right_2_joint:
        Value: true
      leg_right_3_joint:
        Value: true
      leg_right_4_joint:
        Value: true
      leg_right_5_joint:
        Value: true
      leg_right_6_joint:
        Value: true
      torso_1_joint:
        Value: true
      torso_2_joint:
        Value: true
    - Class: rviz/Camera
      Enabled: true
      Image Rendering: background and overlay
      Image Topic: /rgbd/rgb/image_color
      Name: Camera
      Overlay Alpha: 0.5
      Queue Size: 2
      Transport Hint: compressed
      Unreliable: false
      Value: true
      Visibility:
        DepthCloud: true
        Effort: true
        Grid: true
        RobotModel: true
        TF: true
        Value: true
        WrenchStamped: true
      Zoom Factor: 1
    - Alpha: 1
      Auto Size:
        Auto Size Factor: 1
        Value: true
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/DepthCloud
      Color: 255; 255; 255
      Color Image Topic: /rgbd/rgb/image_color
      Color Transformer: RGB8
      Color Transport Hint: compressed
      Decay Time: 0
      Depth Map Topic: /rgbd/depth/image_rect_raw
      Depth Map Transport Hint: raw
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: DepthCloud
      Occlusion Compensation:
        Occlusion Time-Out: 30
        Value: false
      Position Transformer: XYZ
      Queue Size: 5
      Selectable: true
      Size (Pixels): 3
      Style: Flat Squares
      Topic Filter: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: base_link
    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
      Topic: /initialpose
    - 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: 8.08980751
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.877970338
        Y: 0.936086059
        Z: -0.421179205
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.655398846
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.98539031
    Saved: ~
Window Geometry:
  Camera:
    collapsed: false
  Displays:
    collapsed: false
  Height: 1388
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001f5000004d4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000003fb000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000043b000000d30000001600ffffff000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004e60000003efc0100000002fb0000000800540069006d00650100000000000004e60000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000002eb000004d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1254
  X: 1306
  Y: 24