diff --git a/kuka_agilus_support/CMakeLists.txt b/kuka_agilus_support/CMakeLists.txt index e4dabb2..2cbab66 100644 --- a/kuka_agilus_support/CMakeLists.txt +++ b/kuka_agilus_support/CMakeLists.txt @@ -9,4 +9,9 @@ find_package(xacro REQUIRED) install(DIRECTORY config launch meshes urdf DESTINATION share/${PROJECT_NAME}) +if(BUILD_TESTING) + find_package(launch_testing_ament_cmake) + add_launch_test(test/test_kr_agilus.py) +endif() + ament_package() diff --git a/kuka_agilus_support/package.xml b/kuka_agilus_support/package.xml index 0dfd2b0..67d95ad 100644 --- a/kuka_agilus_support/package.xml +++ b/kuka_agilus_support/package.xml @@ -34,21 +34,21 @@ G.A. vd. Hoorn (TU Delft Robotics Institute) Brett Hemes (3M) G.A. vd. Hoorn (TU Delft Robotics Institute) - Marton Antal + Áron Svastits BSD ament_cmake - ament_copyright - ament_flake8 - ament_pep257 xacro + launch_ros joint_state_publisher_gui kuka_resources robot_state_publisher rviz2 + launch_testing_ament_cmake + ament_cmake diff --git a/kuka_agilus_support/test/test_kr_agilus.py b/kuka_agilus_support/test/test_kr_agilus.py new file mode 100644 index 0000000..3ac073a --- /dev/null +++ b/kuka_agilus_support/test/test_kr_agilus.py @@ -0,0 +1,55 @@ +# Copyright 2024 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import unittest + +import launch +import launch.actions +import launch_testing.actions +import launch_testing.markers +import pytest +import os + +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.actions.include_launch_description import IncludeLaunchDescription +from ament_index_python.packages import get_package_share_directory + + +def list_test_launch_files(): + files = [f for f in os.listdir(get_package_share_directory( + 'kuka_agilus_support')+'/launch/') if f.endswith('.py')] + return files + + +# Launch all of the robot visualisation launch files one by one +@pytest.mark.launch_test +@launch_testing.markers.keep_alive +@launch_testing.parametrize('test_file', list_test_launch_files()) +def generate_test_description(test_file): + list_test_launch_files() + return launch.LaunchDescription([ + IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_agilus_support'), + '/launch/', test_file])), + launch_testing.actions.ReadyToTest() + ]) + + +class TestModels(unittest.TestCase): + + def test_read_stdout(self, proc_output): + # Check for frames defined by ROS-Industrial + proc_output.assertWaitFor('got segment base', timeout=5) + proc_output.assertWaitFor('got segment flange', timeout=5) + proc_output.assertWaitFor('got segment tool0', timeout=5) diff --git a/kuka_cybertech_support/CMakeLists.txt b/kuka_cybertech_support/CMakeLists.txt index b3f421a..49bd050 100644 --- a/kuka_cybertech_support/CMakeLists.txt +++ b/kuka_cybertech_support/CMakeLists.txt @@ -9,4 +9,9 @@ find_package(xacro REQUIRED) install(DIRECTORY config launch meshes urdf DESTINATION share/${PROJECT_NAME}) +if(BUILD_TESTING) + find_package(launch_testing_ament_cmake) + add_launch_test(test/test_kr_cybertech.py) +endif() + ament_package() diff --git a/kuka_cybertech_support/package.xml b/kuka_cybertech_support/package.xml index 22b1d15..1562930 100644 --- a/kuka_cybertech_support/package.xml +++ b/kuka_cybertech_support/package.xml @@ -8,17 +8,17 @@ BSD ament_cmake - ament_copyright - ament_flake8 - ament_pep257 xacro + launch_ros joint_state_publisher_gui kuka_resources robot_state_publisher rviz2 + launch_testing_ament_cmake + ament_cmake diff --git a/kuka_cybertech_support/test/test_kr_cybertech.py b/kuka_cybertech_support/test/test_kr_cybertech.py new file mode 100644 index 0000000..83a2459 --- /dev/null +++ b/kuka_cybertech_support/test/test_kr_cybertech.py @@ -0,0 +1,55 @@ +# Copyright 2024 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import unittest + +import launch +import launch.actions +import launch_testing.actions +import launch_testing.markers +import pytest +import os + +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.actions.include_launch_description import IncludeLaunchDescription +from ament_index_python.packages import get_package_share_directory + + +def list_test_launch_files(): + files = [f for f in os.listdir(get_package_share_directory( + 'kuka_cybertech_support')+'/launch/') if f.endswith('.py')] + return files + + +# Launch all of the robot visualisation launch files one by one +@pytest.mark.launch_test +@launch_testing.markers.keep_alive +@launch_testing.parametrize('test_file', list_test_launch_files()) +def generate_test_description(test_file): + list_test_launch_files() + return launch.LaunchDescription([ + IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_cybertech_support'), + '/launch/', test_file])), + launch_testing.actions.ReadyToTest() + ]) + + +class TestModels(unittest.TestCase): + + def test_read_stdout(self, proc_output): + # Check for frames defined by ROS-Industrial + proc_output.assertWaitFor('got segment base', timeout=5) + proc_output.assertWaitFor('got segment flange', timeout=5) + proc_output.assertWaitFor('got segment tool0', timeout=5) diff --git a/kuka_lbr_iisy_support/CMakeLists.txt b/kuka_lbr_iisy_support/CMakeLists.txt index 8dc6e6b..5bdce8b 100644 --- a/kuka_lbr_iisy_support/CMakeLists.txt +++ b/kuka_lbr_iisy_support/CMakeLists.txt @@ -6,9 +6,13 @@ find_package(ament_cmake REQUIRED) find_package(urdf REQUIRED) find_package(xacro REQUIRED) -#xacro_add_files(TARGET xacro urdf/lbr_iisy3_r760.urdf.xacro OUTPUT lbr_iisy3_r760.urdf INSTALL DESTINATION urdf) - install(DIRECTORY launch meshes urdf config DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(launch_testing_ament_cmake) + add_launch_test(test/test_lbr_iisy.py) +endif() + ament_package() diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py index 56647d7..9d6907d 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py @@ -17,10 +17,6 @@ from launch.substitutions import Command, FindExecutable, PathJoinSubstitution from launch_ros.substitutions import FindPackageShare from launch_ros.actions import Node -import xacro -import os -from ament_index_python.packages import get_package_share_directory - def generate_launch_description(): @@ -36,7 +32,6 @@ def generate_launch_description(): "use_fake_hardware:=true", ] ) - # robot_description_content = xacro.process_file(os.path.join(get_package_share_directory('kuka_lbr_iisy_support'), 'urdf', 'lbr_iisy3_r760.urdf.xacro')) robot_description = {'robot_description': robot_description_content} diff --git a/kuka_lbr_iisy_support/package.xml b/kuka_lbr_iisy_support/package.xml index 7186155..79212c7 100644 --- a/kuka_lbr_iisy_support/package.xml +++ b/kuka_lbr_iisy_support/package.xml @@ -4,20 +4,21 @@ 0.1.0 Package containing models of KUKA LBR iisy family Aron Svastits - + Áron Svastits BSD ament_cmake - ament_copyright - ament_flake8 - ament_pep257 xacro + launch_ros joint_state_publisher_gui + kuka_resources robot_state_publisher rviz2 + launch_testing_ament_cmake + ament_cmake diff --git a/kuka_lbr_iisy_support/test/test_lbr_iisy.py b/kuka_lbr_iisy_support/test/test_lbr_iisy.py new file mode 100644 index 0000000..407a118 --- /dev/null +++ b/kuka_lbr_iisy_support/test/test_lbr_iisy.py @@ -0,0 +1,55 @@ +# Copyright 2024 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import unittest + +import launch +import launch.actions +import launch_testing.actions +import launch_testing.markers +import pytest +import os + +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.actions.include_launch_description import IncludeLaunchDescription +from ament_index_python.packages import get_package_share_directory + + +def list_test_launch_files(): + files = [f for f in os.listdir(get_package_share_directory( + 'kuka_lbr_iisy_support')+'/launch/') if f.endswith('.py')] + return files + + +# Launch all of the robot visualisation launch files one by one +@pytest.mark.launch_test +@launch_testing.markers.keep_alive +@launch_testing.parametrize('test_file', list_test_launch_files()) +def generate_test_description(test_file): + list_test_launch_files() + return launch.LaunchDescription([ + IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_lbr_iisy_support'), + '/launch/', test_file])), + launch_testing.actions.ReadyToTest() + ]) + + +class TestModels(unittest.TestCase): + + def test_read_stdout(self, proc_output): + # Check for frames defined by ROS-Industrial + proc_output.assertWaitFor('got segment base', timeout=5) + proc_output.assertWaitFor('got segment flange', timeout=5) + proc_output.assertWaitFor('got segment tool0', timeout=5) diff --git a/kuka_lbr_iiwa_support/CMakeLists.txt b/kuka_lbr_iiwa_support/CMakeLists.txt index c90db08..51bec5d 100755 --- a/kuka_lbr_iiwa_support/CMakeLists.txt +++ b/kuka_lbr_iiwa_support/CMakeLists.txt @@ -1,39 +1,17 @@ cmake_minimum_required(VERSION 3.5) -project(kuka_lbr_iiwa_support) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +project(kuka_lbr_iiwa_support) -# find dependencies find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) +find_package(urdf REQUIRED) +find_package(xacro REQUIRED) -install(DIRECTORY launch urdf meshes config - DESTINATION share/${PROJECT_NAME} -) +install(DIRECTORY config launch meshes urdf + DESTINATION share/${PROJECT_NAME}) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() + find_package(launch_testing_ament_cmake) + add_launch_test(test/test_lbr_iiwa.py) endif() ament_package() diff --git a/kuka_lbr_iiwa_support/package.xml b/kuka_lbr_iiwa_support/package.xml index 3f66198..fb9f067 100755 --- a/kuka_lbr_iiwa_support/package.xml +++ b/kuka_lbr_iiwa_support/package.xml @@ -9,10 +9,18 @@ ament_cmake - ament_lint_auto - ament_lint_common + xacro + launch_ros + + joint_state_publisher_gui + kuka_resources + robot_state_publisher + rviz2 + + launch_testing_ament_cmake + ament_cmake - + \ No newline at end of file diff --git a/kuka_lbr_iiwa_support/test/test_lbr_iiwa.py b/kuka_lbr_iiwa_support/test/test_lbr_iiwa.py new file mode 100644 index 0000000..ef030f4 --- /dev/null +++ b/kuka_lbr_iiwa_support/test/test_lbr_iiwa.py @@ -0,0 +1,55 @@ +# Copyright 2024 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import unittest + +import launch +import launch.actions +import launch_testing.actions +import launch_testing.markers +import pytest +import os + +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.actions.include_launch_description import IncludeLaunchDescription +from ament_index_python.packages import get_package_share_directory + + +def list_test_launch_files(): + files = [f for f in os.listdir(get_package_share_directory( + 'kuka_lbr_iiwa_support')+'/launch/') if f.endswith('.py')] + return files + + +# Launch all of the robot visualisation launch files one by one +@pytest.mark.launch_test +@launch_testing.markers.keep_alive +@launch_testing.parametrize('test_file', list_test_launch_files()) +def generate_test_description(test_file): + list_test_launch_files() + return launch.LaunchDescription([ + IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_lbr_iiwa_support'), + '/launch/', test_file])), + launch_testing.actions.ReadyToTest() + ]) + + +class TestModels(unittest.TestCase): + + def test_read_stdout(self, proc_output): + # Check for frames defined by ROS-Industrial + proc_output.assertWaitFor('got segment base', timeout=5) + proc_output.assertWaitFor('got segment flange', timeout=5) + proc_output.assertWaitFor('got segment tool0', timeout=5) diff --git a/kuka_quantec_support/CMakeLists.txt b/kuka_quantec_support/CMakeLists.txt index 8c09080..6ffdf04 100644 --- a/kuka_quantec_support/CMakeLists.txt +++ b/kuka_quantec_support/CMakeLists.txt @@ -9,4 +9,9 @@ find_package(xacro REQUIRED) install(DIRECTORY config launch meshes urdf DESTINATION share/${PROJECT_NAME}) +if(BUILD_TESTING) + find_package(launch_testing_ament_cmake) + add_launch_test(test/test_kr_quantec.py) +endif() + ament_package() diff --git a/kuka_quantec_support/package.xml b/kuka_quantec_support/package.xml index c5a50e5..408a01c 100644 --- a/kuka_quantec_support/package.xml +++ b/kuka_quantec_support/package.xml @@ -8,17 +8,17 @@ BSD ament_cmake - ament_copyright - ament_flake8 - ament_pep257 xacro + launch_ros joint_state_publisher_gui kuka_resources robot_state_publisher rviz2 + launch_testing_ament_cmake + ament_cmake diff --git a/kuka_quantec_support/test/test_kr_quantec.py b/kuka_quantec_support/test/test_kr_quantec.py new file mode 100644 index 0000000..16aac84 --- /dev/null +++ b/kuka_quantec_support/test/test_kr_quantec.py @@ -0,0 +1,55 @@ +# Copyright 2024 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import unittest + +import launch +import launch.actions +import launch_testing.actions +import launch_testing.markers +import pytest +import os + +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.actions.include_launch_description import IncludeLaunchDescription +from ament_index_python.packages import get_package_share_directory + + +def list_test_launch_files(): + files = [f for f in os.listdir(get_package_share_directory( + 'kuka_quantec_support')+'/launch/') if f.endswith('.py')] + return files + + +# Launch all of the robot visualisation launch files one by one +@pytest.mark.launch_test +@launch_testing.markers.keep_alive +@launch_testing.parametrize('test_file', list_test_launch_files()) +def generate_test_description(test_file): + list_test_launch_files() + return launch.LaunchDescription([ + IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_quantec_support'), + '/launch/', test_file])), + launch_testing.actions.ReadyToTest() + ]) + + +class TestModels(unittest.TestCase): + + def test_read_stdout(self, proc_output): + # Check for frames defined by ROS-Industrial + proc_output.assertWaitFor('got segment base', timeout=5) + proc_output.assertWaitFor('got segment flange', timeout=5) + proc_output.assertWaitFor('got segment tool0', timeout=5) diff --git a/kuka_resources/config/view_6_axis_urdf.rviz b/kuka_resources/config/view_6_axis_urdf.rviz index 25ee540..ea82c03 100644 --- a/kuka_resources/config/view_6_axis_urdf.rviz +++ b/kuka_resources/config/view_6_axis_urdf.rviz @@ -3,8 +3,7 @@ Panels: Help Height: 78 Name: Displays Property Tree Widget: - Expanded: - - /TF1 + Expanded: ~ Splitter Ratio: 0.5 Tree Height: 661 - Class: rviz_common/Selection @@ -41,9 +40,9 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Alpha: 0.5 + - Alpha: 1 Class: rviz_default_plugins/RobotModel - Collision Enabled: true + Collision Enabled: false Description File: "" Description Source: Topic Description Topic: @@ -213,25 +212,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 3.3499999046325684 + Distance: 3.2826578617095947 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.0336405485868454 - Y: 0.08381497114896774 - Z: 0.5878596901893616 + X: 0.4990459680557251 + Y: -0.22452667355537415 + Z: 0.46444159746170044 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: -0.04960332438349724 + Pitch: 0.0 Target Frame: Value: Orbit (rviz) - Yaw: 6.111769676208496 + Yaw: 1.57 Saved: ~ Window Geometry: Displays: @@ -239,13 +238,13 @@ Window Geometry: Height: 890 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000320fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000320000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000046a0000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000320fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000320000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003c70000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - Width: 1850 + Width: 1687 X: 70 Y: 27 diff --git a/kuka_resources/config/view_7_axis_urdf.rviz b/kuka_resources/config/view_7_axis_urdf.rviz index e9ff33a..0b8b9c8 100644 --- a/kuka_resources/config/view_7_axis_urdf.rviz +++ b/kuka_resources/config/view_7_axis_urdf.rviz @@ -3,11 +3,7 @@ Panels: Help Height: 78 Name: Displays Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 + Expanded: ~ Splitter Ratio: 0.5 Tree Height: 661 - Class: rviz_common/Selection @@ -44,9 +40,9 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Alpha: 0.5 + - Alpha: 1 Class: rviz_default_plugins/RobotModel - Collision Enabled: true + Collision Enabled: false Description File: "" Description Source: Topic Description Topic: @@ -239,10 +235,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: -0.04960332438349724 + Pitch: 0.0 Target Frame: Value: Orbit (rviz) - Yaw: 6.111769676208496 + Yaw: 1.57 Saved: ~ Window Geometry: Displays: @@ -250,13 +246,13 @@ Window Geometry: Height: 890 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000320fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000320000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000046a0000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000320fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000320000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003c70000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - Width: 1850 + Width: 1687 X: 70 Y: 27