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Isaac IY Saito
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Add ROS-I Cartesian Planner sample launch.
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‎vs060_moveit_config/launch/demo_simulation_noenvironment_cartesianplanner.launch‎

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<launch>
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<include file="$(find vs060_moveit_config)/launch/demo.launch">
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<arg name="use_kinect" value="false" />
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<arg name="use_rviz" value="false" />
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<arg name="mode" value="simulation" />
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</include>
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<node name="rviz" pkg="rviz" type="rviz" respawn="true"
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args="-d $(find vs060_moveit_config)/launch/moveit_cartesianplanner.rviz" output="screen">
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<rosparam command="load" file="$(find vs060_moveit_config)/config/kinematics.yaml"/>
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</node>
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</launch>

‎vs060_moveit_config/launch/moveit_cartesianplanner.rviz‎

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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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- /MotionPlanning1/Planning Request1
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- /TF1/Frames1
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- /TF1/Tree1
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- /Axes1
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- /InteractiveMarkers1
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Splitter Ratio: 0.74256
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Tree Height: 225
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- Class: rviz/Help
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Name: Help
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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: moveit_cartesian_plan_plugin/MoveIt Cartesian Plan Plug-in
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Name: MoveIt Cartesian Plan Plug-in
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TextEntry: test_field
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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: 0.03
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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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- Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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MoveIt_Goal_Tolerance: 0
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MoveIt_Planning_Time: 5
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MoveIt_Use_Constraint_Aware_IK: true
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MoveIt_Warehouse_Host: 127.0.0.1
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MoveIt_Warehouse_Port: 33829
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Name: MotionPlanning
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Planned Path:
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Links:
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All Links Enabled: true
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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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Value: 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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Flange:
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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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J1:
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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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J2:
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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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J3:
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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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J4:
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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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J5:
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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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Link Tree Style: Links in Alphabetic Order
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Loop Animation: false
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Robot Alpha: 0.4
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 0.01s
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Trajectory Topic: /move_group/display_planned_path
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Planning Metrics:
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Payload: 1
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Show Joint Torques: false
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.08
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0
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Joint Violation Color: 255; 0; 255
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Planning Group: manipulator
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Query Goal State: true
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Query Start State: true
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Show Workspace: false
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Start State Alpha: 1
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Start State Color: 0; 255; 0
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Planning Scene Topic: /move_group/monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 0.9
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Scene Color: 50; 230; 50
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Scene Display Time: 0.2
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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All Links Enabled: true
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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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Value: 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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Flange:
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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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J1:
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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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J2:
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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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J3:
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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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J4:
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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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J5:
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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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Link Tree Style: Links in Alphabetic Order
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Robot Alpha: 0.5
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Show Robot Collision: true
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Show Robot Visual: true
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Value: true
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- Class: rviz/Camera
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Enabled: true
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Image Rendering: background and overlay
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Image Topic: /camera/rgb/image_rect
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Name: Camera
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Overlay Alpha: 0.5
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Queue Size: 2
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Transport Hint: raw
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Value: true
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Visibility:
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Axes: true
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Grid: true
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MotionPlanning: true
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RobotModel: true
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TF: true
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Value: true
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Zoom Factor: 1
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- Class: rviz/TF
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Enabled: false
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Frame Timeout: 15
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Frames:
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All Enabled: false
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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{}
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Update Interval: 0
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Value: false
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- Class: rviz/Axes
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Enabled: true
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Length: 1
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Name: Axes
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Radius: 0.03
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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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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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Value: 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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Flange:
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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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J1:
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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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J2:
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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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J3:
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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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J4:
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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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J5:
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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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Link Tree Style: Links in Alphabetic Order
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Name: RobotModel
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Robot Description: robot_description
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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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- Class: rviz/InteractiveMarkers
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Enable Transparency: true
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Enabled: true
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Name: InteractiveMarkers
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Show Axes: false
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Show Descriptions: true
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Show Visual Aids: false
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Update Topic: /moveit_cartesian_planner/update
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Value: 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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Fixed Frame: BASE
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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Value: true
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Views:
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Current:
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Class: rviz/XYOrbit
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Distance: 2.25442
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.0321833
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Y: -0.0823246
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Z: 3.70813e-07
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.4148
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Target Frame: base_link
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Value: XYOrbit (rviz)
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Yaw: 1.05721
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Saved: ~
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Window Geometry:
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Cartesian Path Planner MoveIt Plug-in:
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collapsed: false
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Camera:
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collapsed: false
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Displays:
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collapsed: false
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Height: 900
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Help:
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collapsed: false
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Hide Left Dock: false
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Hide Right Dock: false
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Motion Planning:
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collapsed: false
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MoveIt Cartesian Plan Plug-in:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000100000000000002a20000033efc0200000006fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000028000001c80000017400fffffffb000000100044006900730070006c00610079007301000001f600000170000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000002d4000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000001600fffffffb0000000c00430061006d0065007200610100000266000001710000000000000000000002ef0000033e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Views:
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collapsed: false
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Width: 1431
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X: 97
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Y: 24

‎vs060_moveit_config/package.xml‎

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<run_depend>pr2_moveit_plugins</run_depend>
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<run_depend>robot_mechanism_controllers</run_depend>
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<run_depend>robot_state_publisher</run_depend>
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<run_depend>moveit_cartesian_plan_plugin</run_depend>
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<run_depend>moveit_planners_ompl</run_depend>
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<run_depend>moveit_ros_move_group</run_depend>
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<run_depend>moveit_ros_visualization</run_depend>

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