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Camera as flange child #12

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Camera as flange child #12

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5a4837c
RVIZ config with tesseract panel for better debugging
marrts Aug 2, 2024
91cfb11
Make camera a child of the tool flange for Motion planning
marrts Aug 2, 2024
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142 changes: 45 additions & 97 deletions snp_automate_2023/config/app.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -30,7 +32,7 @@ Panels:
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 371
Tree Height: 373
Visualization Manager:
Class: ""
Displays:
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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:
Expand All @@ -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
Expand Down Expand Up @@ -353,7 +277,7 @@ Visualization Manager:
Enabled: true
Name: Open3d Mesh
Namespaces:
{}
"": true
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -536,51 +479,56 @@ 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
Value: true
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: <Fixed 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: 000000ff00000000fd00000004000000000000024000000525fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003b00000525000003220100001afa000000010100000006fb000000240054006500730073006500720061006300740057006f0072006b00620065006e006300680100000000ffffffff0000022200fffffffb00000026004100750074006f006d006100740065004100700070006c00690063006100740069006f006e0100000000ffffffff0000020100fffffffb0000001c0053004e0050004100700070006c00690063006100740069006f006e0100000000ffffffff0000000000000000fb000000280054006500730073006500720061006300740045006e007600690072006f006e006d0065006e00740000000000ffffffff0000000000000000fb000000240054006500730073006500720061006300740057006f0072006b00620065006e006300680000000000ffffffff0000000000000000fb000000100044006900730070006c0061007900730100000000000001710000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280054006500730073006500720061006300740045006e007600690072006f006e006d0065006e0074000000028f0000014c0000000000000000fb000000100044006900730070006c0061007900730000000276000000f3000000c700fffffffb0000000a0049006d006100670065000000032c000001120000002800ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003b9000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073800000041fc0100000004fb00000038005400650073007300650072006100630074005400720061006a006500630074006f007200790020002d00200053006c00690064006500720100000000000007380000000000000000fb000000120020002d00200053006c00690064006500720100000000000007380000000000000000fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000007ba0000052500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
TesseractWorkbench:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Width: 2560
X: 2560
Y: 0
4 changes: 2 additions & 2 deletions snp_automate_2023/urdf/workcell.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -187,9 +187,9 @@

<link name="camera_color_optical_frame"/>
<joint name="tool0_to_camera" type="fixed">
<parent link="tool0"/>
<parent link="tool_flange"/>
<child link="camera_color_optical_frame"/>
<origin xyz="${camera_cal['camera_mount_to_camera_pos']['x']} ${camera_cal['camera_mount_to_camera_pos']['y']} ${camera_cal['camera_mount_to_camera_pos']['z']}"
<origin xyz="${camera_cal['camera_mount_to_camera_pos']['x']} ${camera_cal['camera_mount_to_camera_pos']['y']} ${camera_cal['camera_mount_to_camera_pos']['z'] + dt_flange_width}"
rpy="${camera_cal['camera_mount_to_camera_rpy']['x']} ${camera_cal['camera_mount_to_camera_rpy']['y']} ${camera_cal['camera_mount_to_camera_rpy']['z']}" />
</joint>

Expand Down
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