From 739fd8e1b355cb0ac9d46855c558570fc606e49a Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Fri, 9 Aug 2024 01:07:43 +0200
Subject: [PATCH] Update code to launch two separate RViz windows with KUKA and
simple_robot
---
.../__pycache__/iiwa.launch.cpython-310.pyc | Bin 6424 -> 6485 bytes
.../iiwa/iiwa_bringup/launch/iiwa.launch.py | 3 +
.../src/iiwa/iiwa_description/rviz/iiwa.rviz | 32 +++++---
.../kuka_rviz_simulation_1dof_launch.py | 5 +-
.../rviz/forward_kinematics_simulations.rviz | 76 ++++++++++++++++--
.../forward_kinematics_node_1dof.py | 1 -
6 files changed, 98 insertions(+), 19 deletions(-)
diff --git a/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc
index d9aa60a4db91d1a8afe00067ceb231f94e1a72e7..d38891b2603662f601248eabcaa89ec7bc9d889e 100644
GIT binary patch
delta 530
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delta 452
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diff --git a/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa.launch.py
index 7ec29a2..975a51d 100644
--- a/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa.launch.py
+++ b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa.launch.py
@@ -282,6 +282,9 @@ def generate_launch_description():
namespace=namespace,
output='both',
parameters=[robot_description],
+ remappings=[
+ ('/robot_description', '/kuka_description')
+ ]
)
rviz_node = Node(
package='rviz2',
diff --git a/ros2_ws/src/iiwa/iiwa_description/rviz/iiwa.rviz b/ros2_ws/src/iiwa/iiwa_description/rviz/iiwa.rviz
index 1db9e05..fa3aa46 100644
--- a/ros2_ws/src/iiwa/iiwa_description/rviz/iiwa.rviz
+++ b/ros2_ws/src/iiwa/iiwa_description/rviz/iiwa.rviz
@@ -1,6 +1,6 @@
Panels:
- Class: rviz_common/Displays
- Help Height: 78
+ Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
@@ -8,7 +8,7 @@ Panels:
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
- Tree Height: 787
+ Tree Height: 612
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -67,7 +67,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
- Value: /robot_description
+ Value: /kuka_description
Enabled: true
Links:
All Links Enabled: true
@@ -75,6 +75,10 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
+ iiwa_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
link_0:
Alpha: 1
Show Axes: false
@@ -123,6 +127,9 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
+ Mass Properties:
+ Inertia: false
+ Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
@@ -143,6 +150,9 @@ Visualization Manager:
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
@@ -178,18 +188,18 @@ Visualization Manager:
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: 0.9942193031311035
+ Y: -0.03748335316777229
+ Z: -3.551053305272944e-05
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.5303981900215149
+ Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 3.6104042530059814
+ Yaw: 4.7204060554504395
Saved: ~
Window Geometry:
Displays:
@@ -197,7 +207,7 @@ Window Geometry:
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd0000000400000000000001b90000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005790000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000001f70000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000035c0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003a70000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005350000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
@@ -205,5 +215,5 @@ Window Geometry:
Views:
collapsed: true
Width: 1848
- X: 72
- Y: 27
+ X: 140
+ Y: 54
diff --git a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
index 10ce234..405da31 100644
--- a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
+++ b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
@@ -113,7 +113,10 @@ def generate_launch_description():
output='both',
parameters=[
{'robot_description': robot_desc}
- ]
+ ]#,
+ # remappings=[
+ # ('/robot_description', 'simple_robot_description')
+ # ]
)
joint_state_publisher = Node(
package='joint_state_publisher',
diff --git a/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz b/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
index afc67bf..632e356 100644
--- a/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
+++ b/ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz
@@ -1,6 +1,6 @@
Panels:
- Class: rviz_common/Displays
- Help Height: 78
+ Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
@@ -9,8 +9,9 @@ Panels:
- /Path1
- /Marker1
- /Marker1/Topic1
+ - /RobotModel1
Splitter Ratio: 0.5
- Tree Height: 696
+ Tree Height: 481
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -82,7 +83,7 @@ Visualization Manager:
Enabled: true
Name: Marker
Namespaces:
- {}
+ "": true
Topic:
Depth: 5
Durability Policy: Volatile
@@ -91,6 +92,69 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /simple_robot/visualization_marker
Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ arm1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ee_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ map:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -163,7 +227,7 @@ Window Geometry:
Height: 987
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000015600000341fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000341000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000341000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007740000003efc0100000002fb0000000800540069006d00650100000000000007740000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000005030000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000001f7000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002d90000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000002d90000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007740000005afc0100000002fb0000000800540069006d00650100000000000007740000058100fffffffb0000000800540069006d0065010000000000000450000000000000000000000406000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -173,5 +237,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1908
- X: -161
- Y: 12
+ X: 130
+ Y: 164
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
index 440bb6f..44c4fff 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
+++ b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
@@ -95,7 +95,6 @@ class Forward_Kinematics_Node_1Dof(Node):
start_forward_kinematics = FKinBody(self.M, self.Blist, self.joint_angles)
start_position = start_forward_kinematics[:4 ,3]
- self.get_logger().info('Start "%s"' %start_position)
start_orientation = Rotation.from_matrix(start_forward_kinematics[:3, :3]).as_quat()
end_forward_kinematics = np.matmul(intermediate_rotation, start_forward_kinematics)
--
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