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Commit 689223b

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HoangGiang93HoangGiang93
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Fix name, add rviz file, fix warnings
1 parent 059b94e commit 689223b

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5 files changed

+352
-22
lines changed

5 files changed

+352
-22
lines changed

‎.gitignore

+1
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@@ -1,3 +1,4 @@
11
*.fasl
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*.*~
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*.*.swp
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*.vscode

‎iai_donbot_description/launch/display.launch

+8-20
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@@ -1,22 +1,10 @@
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<launch>
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<arg name="model" />
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<arg name="gui" default="True" />
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<include file="$(find iai_donbot_description)/launch/upload.launch" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="fake_localization" output="screen" args="0 0 0 0 0 0 map odom" />
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<param
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name="use_gui"
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value="$(arg gui)" />
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="state_publisher" />
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<!--node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find iai_boxy_base_2)/urdf.rviz" /-->
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<arg name="model" />
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<arg name="gui" default="True" />
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<include file="$(find iai_donbot_description)/launch/upload.launch" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="fake_localization" output="screen" args="0 0 0 0 0 0 map odom" />
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<param name="use_gui" value="$(arg gui)" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find iai_donbot_description)/rviz/urdf.rviz" />
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</launch>

‎iai_donbot_description/launch/upload.launch

+2-2
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@@ -1,8 +1,8 @@
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<launch>
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<arg name="urdf" default="$(find iai_donbot_description)/robots/iai_donbot2.xacro"/>
2+
<arg name="urdf" default="$(find iai_donbot_description)/robots/iai_donbot_spawn.xacro"/>
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<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
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<arg name="kinematics_config" default="$(find iai_donbot_description)/config/ur5_calibration.yaml"/>
55

6-
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg urdf)' transmission_hw_interface:=$(arg transmission_hw_interface)
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<param name="robot_description" command="$(find xacro)/xacro '$(arg urdf)' transmission_hw_interface:=$(arg transmission_hw_interface)
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kinematics_config:=$(arg kinematics_config)" />
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</launch>

‎iai_donbot_description/robots/iai_donbot2.xacro renamed to ‎iai_donbot_description/robots/iai_donbot_spawn.xacro

File renamed without changes.

‎iai_donbot_description/rviz/urdf.rviz

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,341 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 549
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/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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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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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/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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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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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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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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adapter_fwa050_wsg50_frame_in:
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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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adapter_fwa050_wsg50_frame_out:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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adapter_iso50_kms40_frame_in:
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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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adapter_iso50_kms40_frame_out:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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adapter_kms40_fwk050_frame_in:
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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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adapter_kms40_fwk050_frame_out:
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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_footprint:
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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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Value: true
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camera_holder_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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Value: true
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camera_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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charger:
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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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e_stop:
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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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fwk_fwa_050_frame_in:
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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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fwk_fwa_050_frame_out:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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gripper_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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Value: true
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gripper_finger_left_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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Value: true
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gripper_finger_right_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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Value: true
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gripper_gripper_left_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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Value: true
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gripper_gripper_right_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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Value: true
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gripper_tool_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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kms40_frame_in:
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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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kms40_frame_out:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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kms_mounting_plate:
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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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laser_reference_back:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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laser_reference_front:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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odom:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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odom_x_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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odom_y_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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plate:
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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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rs_camera_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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switches:
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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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ur5_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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ur5_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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Value: true
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ur5_ee_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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Value: true
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ur5_forearm_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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Value: true
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ur5_shoulder_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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Value: true
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ur5_tool0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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ur5_touchpad:
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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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ur5_upper_arm_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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Value: true
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ur5_wrist_1_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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Value: true
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ur5_wrist_2_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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Value: true
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ur5_wrist_3_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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Value: true
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wlan:
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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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wrist_collision:
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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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Name: RobotModel
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Robot Description: robot_description
272+
TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: 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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Default Light: true
280+
Fixed Frame: map
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Frame Rate: 30
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Name: root
283+
Tools:
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- Class: rviz/Interact
285+
Hide Inactive Objects: true
286+
- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
292+
Topic: /initialpose
293+
X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
296+
Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
299+
Topic: /clicked_point
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Value: true
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Views:
302+
Current:
303+
Class: rviz/Orbit
304+
Distance: 10
305+
Enable Stereo Rendering:
306+
Stereo Eye Separation: 0.05999999865889549
307+
Stereo Focal Distance: 1
308+
Swap Stereo Eyes: false
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Value: false
310+
Focal Point:
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X: 0
312+
Y: 0
313+
Z: 0
314+
Focal Shape Fixed Size: true
315+
Focal Shape Size: 0.05000000074505806
316+
Invert Z Axis: false
317+
Name: Current View
318+
Near Clip Distance: 0.009999999776482582
319+
Pitch: 0.785398006439209
320+
Target Frame: <Fixed Frame>
321+
Value: Orbit (rviz)
322+
Yaw: 0.785398006439209
323+
Saved: ~
324+
Window Geometry:
325+
Displays:
326+
collapsed: false
327+
Height: 846
328+
Hide Left Dock: false
329+
Hide Right Dock: false
330+
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
331+
Selection:
332+
collapsed: false
333+
Time:
334+
collapsed: false
335+
Tool Properties:
336+
collapsed: false
337+
Views:
338+
collapsed: false
339+
Width: 1200
340+
X: 60
341+
Y: 30

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