From 5a4837cdb1e639bfb28dc0c3027ea4f4fb2abd4c Mon Sep 17 00:00:00 2001 From: Tyler Marr Date: Fri, 2 Aug 2024 13:43:19 -0500 Subject: [PATCH 1/2] RVIZ config with tesseract panel for better debugging --- snp_automate_2023/config/app.rviz | 142 ++++++++++-------------------- 1 file changed, 45 insertions(+), 97 deletions(-) diff --git a/snp_automate_2023/config/app.rviz b/snp_automate_2023/config/app.rviz index 5d556e1..d53b930 100644 --- a/snp_automate_2023/config/app.rviz +++ b/snp_automate_2023/config/app.rviz @@ -6,8 +6,10 @@ Panels: Expanded: - /Global Options1 - /Status1 + - /TesseractWorkbench1/Environment Properties1 + - /TesseractWorkbench1/Joint Trajectory Properties1 Splitter Ratio: 0.5 - Tree Height: 857 + Tree Height: 1153 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -30,7 +32,7 @@ Panels: Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 - Tree Height: 371 + Tree Height: 373 Visualization Manager: Class: "" Displays: @@ -63,98 +65,20 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /robot_description - Enabled: true + Enabled: false Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cal_target_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - ee: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - floor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_1_s: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_2_l: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_3_u: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_4_r: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_5_b: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_6_t: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sand_tcp: - Alpha: 1 - Show Axes: false - Show Trail: false - table: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - tool_flange: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false Mass Properties: Inertia: false Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 - Value: true + Value: false Visual Enabled: true - Class: rviz_default_plugins/TF Enabled: true @@ -250,11 +174,11 @@ Visualization Manager: link_5_b: link_6_t: tool0: - camera_color_optical_frame: - {} ee: {} tool_flange: + camera_color_optical_frame: + {} sand_tcp: {} preview/world: @@ -272,11 +196,11 @@ Visualization Manager: preview/link_5_b: preview/link_6_t: preview/tool0: - preview/camera_color_optical_frame: - {} preview/ee: {} preview/tool_flange: + preview/camera_color_optical_frame: + {} preview/sand_tcp: {} Update Interval: 0 @@ -353,7 +277,7 @@ Visualization Manager: Enabled: true Name: Open3d Mesh Namespaces: - {} + "": true Topic: Depth: 5 Durability Policy: Volatile @@ -492,6 +416,25 @@ Visualization Manager: Reliability Policy: Reliable Value: /camera/color/image_raw Value: false + - Class: tesseract_rviz/TesseractWorkbench + Enabled: true + Environment Properties: + Display Mode: Monitor + Joint State Topic: /joint_states + Monitor Topic: /snp_environment/tesseract_published_environment + Snapshot Topic: /tesseract_environment_snapshot + URDF Parameter: robot_description + Value: "" + Joint Trajectory Properties: + Legacy Joint Trajectory: + Value: true + topic: /joint_trajectory + Tesseract Joint Trajectory: + Joint Trajectory Topic: /tesseract/display_tesseract_trajectory + Value: true + Value: "" + Name: TesseractWorkbench + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -536,7 +479,10 @@ Visualization Manager: Lasso mode: true Line Color: 0; 0; 0 Point Color: 255; 255; 255 + Point Generation Gap: 0.0020000000949949026 Point Size: 5 + Show Text: true + Text Size: 0.014999999664723873 Transformation: Current: Class: rviz_default_plugins/TF @@ -544,43 +490,45 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 2.6379969120025635 + Distance: 3.686171531677246 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.0724094957113266 - Y: -0.02991703897714615 - Z: 1.1151771545410156 + X: 0.005803726613521576 + Y: -0.19066669046878815 + Z: 0.9173133969306946 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.44539833068847656 + Pitch: 0.41539841890335083 Target Frame: Value: Orbit (rviz) - Yaw: 1.3503996133804321 + Yaw: 1.1753958463668823 Saved: ~ Window Geometry: AutomateApplication: collapsed: false Displays: collapsed: false - Height: 1115 + Height: 1403 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false + TesseractWorkbench: + collapsed: false Tool Properties: collapsed: false Views: collapsed: true - Width: 1920 - X: 0 + Width: 2560 + X: 2560 Y: 0 From 91cfb110d8264c2e71d65913ed721c30eba42274 Mon Sep 17 00:00:00 2001 From: Tyler Marr Date: Fri, 2 Aug 2024 13:49:09 -0500 Subject: [PATCH 2/2] Make camera a child of the tool flange for Motion planning --- snp_automate_2023/urdf/workcell.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/snp_automate_2023/urdf/workcell.xacro b/snp_automate_2023/urdf/workcell.xacro index 1a9a382..db60701 100644 --- a/snp_automate_2023/urdf/workcell.xacro +++ b/snp_automate_2023/urdf/workcell.xacro @@ -187,9 +187,9 @@ - + -