diff --git a/.gitignore b/.gitignore
index c926a78e7..36ab93791 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,5 +11,12 @@ venv
# Vim stuff
*.swp
+# Ansible stuff
+*.retry
+# Catkin stuff
CATKIN_IGNORE
+
+# Files that will be auto-generated on compile
+moma_demos/grasp_demo/config/yumi/gpd.cfg
+moma_demos/grasp_demo/config/panda/gpd.cfg
diff --git a/.gitmodules b/.gitmodules
index b2a402c36..cc09c61ce 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -9,3 +9,13 @@
[submodule "realsense-ros"]
path = submodules/realsense-ros
url = git@github.com:IntelRealSense/realsense-ros.git
+[submodule "submodules/gpd"]
+ path = submodules/gpd
+ url = https://github.com/kekeblom/gpd
+[submodule "submodules/gpd_ros"]
+ path = submodules/gpd_ros
+ url = ssh://git@github.com/kekeblom/gpd_ros
+[submodule "submodules/yumi"]
+ path = submodules/yumi
+ url = git@github.com:ethz-asl/yumi.git
+ branch = asl-devel
diff --git a/README.md b/README.md
index ab32f986d..545ba14f8 100644
--- a/README.md
+++ b/README.md
@@ -31,6 +31,10 @@ Then, use catkin to build the desired packages.
Before you start developing, familiarize yourself with the [robotic platform](https://github.com/ethz-asl/moma/wiki/Robots) you will be working with and make sure to checkout the [Development](https://github.com/ethz-asl/moma/wiki/Development) section of our wiki.
+## GPD
+
+When building a package that relies on GPD (e.g. `fetch_demo`), GPD needs to be built separately first. For the installation instructions, refer to `submodules/gpd/README.md`.
+
## Documentation
Every package should contain a `README.md` file documenting its main features.
@@ -39,18 +43,15 @@ More detailed instructions on the setup and operation of our robotic platforms,
## Ansible Playbooks
-This section needs to be updated.
-
-The `playbooks/` directory contains some Ansible playbooks which are there to automate and document how to set up the machine. `playbooks/setup_ros.yaml` will install ROS. `playbooks/setup_repo.yaml` will create a catkin workspace and clone this repository on the machine. `playbooks/setup_realsense.yaml` will install realsense dependencies and clone the [realsense-ros](https://github.com/IntelRealSense/realsense-ros) repository.
+The `operations/` directory contains some Ansible playbooks which are there to automate and document how to set up a computer.
-To run a playbook, first install Ansible (`pip install --user ansible`). Copy the file `playbooks/hosts` to `/opt/ansible/hosts` or specify the inventory file with the `-i` option every time you run `ansible-playbook` (e.g. `ansible-playbook playbooks/setup_ros.yaml -i playbooks/hosts --ask-pass --ask-become-pass`.
+To run a playbook, first install Ansible (`pip install --user ansible`). Copy the hosts file `operations/hosts` to `/etc/ansible/hosts`.
-The hosts file is an inventory file specifying which machines the playbooks are run against. Currently it only contains one group `franka-box` which's ip should point to the ubuntu machine controlling the Franka arm.
-
-Setting up the machine is done by running the commands:
+The hosts file is an inventory file specifying groups of hosts. A playbook is always run against a group and all the commands will be run on all machines in that group.
+To set up the franka control computer, run:
```
-ansible-playbook playbooks/setup_ros.yaml --ask-pass --ask-become-pass
-ansible-playbook playbooks/setup_repo.yaml --ask-pass --ask-become-pass
-ansible-playbook playbooks/setup_realsense.yaml --ask-pass --ask-become-pass
+ansible-playbook operations/setup_franka.yaml --ask-pass --ask-become-pass
```
+The `--ask-pass` flag is not needed if ssh authentication is being used.
+
diff --git a/install_dependencies.sh b/install_dependencies.sh
index 7889c745c..3c73cb40b 100755
--- a/install_dependencies.sh
+++ b/install_dependencies.sh
@@ -4,5 +4,11 @@ sudo apt-get install ros-$ROS_DISTRO-ridgeback-description \
ros-$ROS_DISTRO-moveit-simple-controller-manager \
ros-$ROS_DISTRO-ros-controllers \
ros-$ROS_DISTRO-ridgeback-simulator \
- ros-$ROS_DISTRO-ridgeback-desktop
-
+ ros-$ROS_DISTRO-ridgeback-desktop \
+ ros-$ROS_DISTRO-moveit \
+ ros-$ROS_DISTRO-rosmon \
+ ros-$ROS_DISTRO-pcl-ros \
+ ros-$ROS_DISTRO-tf2-sensor-msgs \
+ ros-$ROS_DISTRO-rqt-py-trees \
+ ros-$ROS_DISTRO-libfranka \
+ qtbase5-dev
diff --git a/moma_bringup/launch/mobmi_control_moveit_rviz.launch b/moma_bringup/launch/mobmi_control_moveit_rviz.launch
new file mode 100644
index 000000000..1bb85350a
--- /dev/null
+++ b/moma_bringup/launch/mobmi_control_moveit_rviz.launch
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/moma_bringup/launch/panda_control_moveit_rviz.launch b/moma_bringup/launch/panda_control_moveit_rviz.launch
index 1ed2a5e6c..41b026453 100644
--- a/moma_bringup/launch/panda_control_moveit_rviz.launch
+++ b/moma_bringup/launch/panda_control_moveit_rviz.launch
@@ -1,11 +1,11 @@
-
-
-
+
+
+
diff --git a/moma_bringup/launch/royalpanda_control_moveit_rviz.launch b/moma_bringup/launch/royalpanda_control_moveit_rviz.launch
new file mode 100644
index 000000000..3af2914ec
--- /dev/null
+++ b/moma_bringup/launch/royalpanda_control_moveit_rviz.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/moma_bringup/launch/yumi_control_moveit_rviz.launch b/moma_bringup/launch/yumi_control_moveit_rviz.launch
index 75d5f5325..b74f599c3 100644
--- a/moma_bringup/launch/yumi_control_moveit_rviz.launch
+++ b/moma_bringup/launch/yumi_control_moveit_rviz.launch
@@ -1,14 +1,18 @@
-
+
+
+
+
-
+
+
@@ -17,7 +21,7 @@
-
+
diff --git a/moma_demos/fetch_demo/README.md b/moma_demos/fetch_demo/README.md
index 69d00b48f..7f29898ae 100644
--- a/moma_demos/fetch_demo/README.md
+++ b/moma_demos/fetch_demo/README.md
@@ -3,14 +3,6 @@
## Launching the demo on the multi-machine setup
-### As a single launch file
-
-On the machine used for the user interface, run the following command to distribute the nodes.
-
-```bash
-roslaunch fetch_demo single_command.launch
-```
-
### Via SSH
There is one launch file for each machine in the setup. They can all be launch from the user interface laptop via SSH as follows.
@@ -18,19 +10,19 @@ There is one launch file for each machine in the setup. They can all be launch f
Navigation nodes on ridgeback machine:
```bash
-ssh asl-admin@asl-ridgeback "source /home/asl-admin/catkin_ws/devel/setup.zsh && roslaunch fetch_demo navigation.launch"
+ssh -t asl-admin@asl-ridgeback "source /home/asl-admin/.zshrc && roslaunch fetch_demo navigation.launch"
```
Manipulation nodes on YuMi machine:
```bash
-ssh asl-admin@asl-yumi "source /home/asl-admin/catkin_ws/devel/setup.zsh && roslaunch fetch_demo manipulation.launch"
+ssh -t asl-admin@asl-yumi "source /home/asl-admin/.zshrc && roslaunch fetch_demo manipulation.launch"
```
Perception nodes on moma-laptop:
```bash
-ssh asl-admin@moma-laptop "source /home/asl-admin/catkin_ws/devel/setup.zsh && roslaunch fetch_demo perception.launch"
+ssh -t asl-admin@moma-laptop "source /home/asl-admin/.zshrc && roslaunch fetch_demo perception.launch"
```
On local user interface machine:
@@ -40,3 +32,20 @@ roslaunch fetch_demo user_interface.launch
```
Each of these commands is blocking, they should be run in separate terminals.
+
+
+## Useful commands
+
+### Test the approach node
+
+Send goals directly to move_base:
+
+``bash
+rosrun actionlib axclient.py move_base move_base_msgs/MoveBaseAction
+```
+
+Send goals to the approach action:
+
+```bash
+rosrun actionlib axclient.py approach_action fetch_demo/ApproachAction
+```
diff --git a/moma_demos/fetch_demo/config/fetch_demo.yaml b/moma_demos/fetch_demo/config/fetch_demo.yaml
new file mode 100644
index 000000000..54d0fa825
--- /dev/null
+++ b/moma_demos/fetch_demo/config/fetch_demo.yaml
@@ -0,0 +1,23 @@
+# General settings:
+arm_velocity_scaling_search: 0.5
+
+# Waypoints for the base to follow during search action:
+search_waypoints:
+ initial:
+ - [15.6757316589, -0.985509037971, -1.14762610015]
+ - [18.4454135895, -1.62419974804, -0.293683380035]
+ - [21.1538028717, -1.79279625416, 6.57794558821]
+
+ loop:
+ - [22.884, -0.478, 63.0]
+ - [23.3571300507, 0.906202673912, 91.400792341]
+ - [23.2464008331, 2.67486047745, 89.8622512493]
+ - [23.2799835205, 4.79860496521, 107.616658638]
+
+drop_waypoints:
+ retract_waypoint: [22.6979408264, -0.706754267216, -136.143811141]
+ drop_waypoints:
+ - [18.8157615662, -1.54435634613, 174.374674869]
+ - [16.5263442993, -1.03566563129, -179.855710433]
+ - [10.8428039551, -1.36035263538, 178.827247868]
+ - [4.33228302002, -1.1852132082, 178.782756016]
diff --git a/moma_demos/fetch_demo/config/localization.rviz b/moma_demos/fetch_demo/config/localization.rviz
new file mode 100644
index 000000000..d6986322c
--- /dev/null
+++ b/moma_demos/fetch_demo/config/localization.rviz
@@ -0,0 +1,647 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 138
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /TF1/Frames1
+ - /Banana1
+ Splitter Ratio: 0.6822695136070251
+ Tree Height: 1543
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 209; 209; 214
+ Enabled: false
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 40
+ Reference Frame:
+ Value: false
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: true
+ 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
+ axle_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ chassis_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lights_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_rocker_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_finger_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_finger_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_finger_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_finger_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ left_side_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mid_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ realsense_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_lights_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_rocker_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ridgeback_sensor_mount_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ridgeback_yumi_mount_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_side_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ table_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ yumi_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_l_default_ee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ yumi_link_1_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_1_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_2_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_2_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_3_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_3_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_4_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_4_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_5_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_5_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_6_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_6_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_7_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_7_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/Axes
+ Enabled: false
+ Length: 0.25
+ Name: Axes
+ Radius: 0.05000000074505806
+ Reference Frame: base_link
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: -0.9806969165802002
+ Min Value: -1.052174687385559
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 1794
+ Min Color: 0; 0; 0
+ Min Intensity: 390
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.05000000074505806
+ Style: Flat Squares
+ Topic: /merged_scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 255; 0
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Path
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic: /move_base/TrajectoryPlannerROS/local_plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 85; 255; 255
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: Path
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic: /move_base/NavfnROS/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: true
+ Enabled: true
+ Name: Map
+ Topic: /map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz/Pose
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: Pose
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic: /move_base_simple/goal
+ Unreliable: false
+ Value: true
+ - Class: rviz/InteractiveMarkers
+ Enable Transparency: true
+ Enabled: false
+ Name: InteractiveMarkers
+ Show Axes: false
+ Show Descriptions: true
+ Show Visual Aids: false
+ Update Topic: /twist_marker_server/update
+ Value: false
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ - Alpha: 1
+ Arrow Length: 0.30000001192092896
+ Axes Length: 0.30000001192092896
+ Axes Radius: 0.009999999776482582
+ Class: rviz/PoseArray
+ Color: 255; 25; 0
+ Enabled: false
+ Head Length: 0.07000000029802322
+ Head Radius: 0.029999999329447746
+ Name: PoseArray
+ Shaft Length: 0.23000000417232513
+ Shaft Radius: 0.009999999776482582
+ Shape: Arrow (Flat)
+ Topic: /particlecloud
+ Unreliable: false
+ Value: false
+ - Class: rviz/Axes
+ Enabled: true
+ Length: 1
+ Name: Axes
+ Radius: 0.10000000149011612
+ Reference Frame: base_link
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: costmap
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic: /move_base/global_costmap/costmap
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /debug_T_G_I
+ Name: Maplab Global Pose
+ Namespaces:
+ debug: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /loop_closures
+ Name: Maplab Observer Rays
+ Namespaces:
+ maplab_rviz_namespace: true
+ Queue Size: 100
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Maplab Map
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /loopclosure_database
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 252; 233; 79
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Maplab Inliers
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 10
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /loopclosure_inliers
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /debug_T_G_I_raw_localizations
+ Name: Maplab Raw Localizations
+ Namespaces:
+ debug: true
+ Queue Size: 100
+ Value: true
+ - Alpha: 1
+ Class: rviz/Polygon
+ Color: 25; 255; 0
+ Enabled: true
+ Name: Footprint Polygon
+ Topic: /move_base/global_costmap/footprint
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz/Pose
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: Current Goal (move_base)
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic: /move_base/current_goal
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Class: rviz/PointStamped
+ Color: 237; 212; 0
+ Enabled: true
+ History Length: 1
+ Name: Banana
+ Radius: 0.5
+ Topic: /W_landmark
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Angle: -0.08000058680772781
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Scale: 117.83364868164062
+ Target Frame:
+ Value: TopDownOrtho (rviz)
+ X: 14.707685470581055
+ Y: 1.5323901176452637
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 2049
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd0000000400000000000002c3000006fffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000006ff0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000006fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000006ff0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000005ff000000a9fc0100000003fb0000000a00560069006500770073030000004e00000080000002e100000197fb0000000a0049006d0061006700650100000000000002fd0000000000000000fb0000000a0049006d0061006700650100000303000002fc00000000000000000000000300000f000000005afc0100000002fb0000000800540069006d0065010000000000000f000000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000c31000006ff00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 3840
+ X: 0
+ Y: 55
diff --git a/moma_demos/fetch_demo/config/manipulation.rviz b/moma_demos/fetch_demo/config/manipulation.rviz
new file mode 100644
index 000000000..0dfe85235
--- /dev/null
+++ b/moma_demos/fetch_demo/config/manipulation.rviz
@@ -0,0 +1,801 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 380
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+ - Class: control_gui/ButtonPanel
+ Name: Mission Control
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Acceleration_Scaling_Factor: 0.4
+ Class: moveit_rviz_plugin/MotionPlanning
+ Enabled: true
+ Move Group Namespace: ""
+ MoveIt_Allow_Approximate_IK: false
+ MoveIt_Allow_External_Program: false
+ MoveIt_Allow_Replanning: false
+ MoveIt_Allow_Sensor_Positioning: false
+ MoveIt_Goal_Tolerance: 0
+ MoveIt_Planning_Attempts: 10
+ MoveIt_Planning_Time: 5
+ MoveIt_Use_Cartesian_Path: false
+ MoveIt_Use_Constraint_Aware_IK: true
+ MoveIt_Warehouse_Host: 127.0.0.1
+ MoveIt_Warehouse_Port: 33829
+ MoveIt_Workspace:
+ Center:
+ X: -14
+ Y: 0
+ Z: 0
+ Size:
+ X: 2
+ Y: 2
+ Z: 2
+ Name: MotionPlanning
+ Planned Path:
+ Color Enabled: false
+ Interrupt Display: false
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ axle_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ chassis_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lights_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_rocker_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_finger_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_finger_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_finger_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_finger_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ left_side_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mid_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ realsense_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_lights_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_rocker_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ridgeback_sensor_mount_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ridgeback_yumi_mount_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_side_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ table_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ yumi_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_l_default_ee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ yumi_link_1_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_1_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_2_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_2_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_3_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_3_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_4_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_4_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_5_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_5_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_6_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_6_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_7_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_7_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Loop Animation: false
+ Robot Alpha: 0.5
+ Robot Color: 150; 50; 150
+ Show Robot Collision: false
+ Show Robot Visual: true
+ Show Trail: false
+ State Display Time: 0.05 s
+ Trail Step Size: 1
+ Trajectory Topic: /move_group/display_planned_path
+ Planning Metrics:
+ Payload: 1
+ Show Joint Torques: false
+ Show Manipulability: false
+ Show Manipulability Index: false
+ Show Weight Limit: false
+ TextHeight: 0.07999999821186066
+ Planning Request:
+ Colliding Link Color: 255; 0; 0
+ Goal State Alpha: 1
+ Goal State Color: 250; 128; 0
+ Interactive Marker Size: 0
+ Joint Violation Color: 255; 0; 255
+ Planning Group: left_arm
+ Query Goal State: true
+ Query Start State: false
+ Show Workspace: false
+ Start State Alpha: 1
+ Start State Color: 0; 255; 0
+ Planning Scene Topic: move_group/monitored_planning_scene
+ Robot Description: robot_description
+ Scene Geometry:
+ Scene Alpha: 0.8999999761581421
+ Scene Color: 50; 230; 50
+ Scene Display Time: 0.20000000298023224
+ Show Scene Geometry: true
+ Voxel Coloring: Z-Axis
+ Voxel Rendering: Occupied Voxels
+ Scene Robot:
+ Attached Body Color: 150; 50; 150
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ axle_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ chassis_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lights_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_rocker_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_finger_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_l_finger_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_finger_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_r_finger_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ left_side_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mid_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ realsense_mount:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_lights_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_rocker_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ridgeback_sensor_mount_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ ridgeback_yumi_mount_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_side_cover_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ table_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ yumi_body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_l_default_ee:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ yumi_link_1_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_1_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_2_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_2_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_3_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_3_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_4_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_4_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_5_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_5_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_6_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_6_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_7_l:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ yumi_link_7_r:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Robot Alpha: 1
+ Show Robot Collision: false
+ Show Robot Visual: true
+ Value: true
+ Velocity_Scaling_Factor: 0.4
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Realsense PointCloud
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 2
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /camera/depth/color/points
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Stitched PointCloud
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /scan_action_node/cloud
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: VPP cloud
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 5
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /gsm_node/cloud
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 1
+ Arrow Length: 0.30000001192092896
+ Axes Length: 0.05999999865889549
+ Axes Radius: 0.009999999776482582
+ Class: rviz/PoseArray
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.07000000029802322
+ Head Radius: 0.029999999329447746
+ Name: Grasp candidates
+ Shaft Length: 0.23000000417232513
+ Shaft Radius: 0.009999999776482582
+ Shape: Axes
+ Topic: /grasp_candidates
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Axes Length: 0.15000000596046448
+ Axes Radius: 0.019999999552965164
+ Class: rviz/Pose
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: Selected grasp
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Axes
+ Topic: /grasp_pose
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 3.0090465545654297
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.5356600284576416
+ Y: 0.3772276043891907
+ Z: 0.5020571947097778
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7353994846343994
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 5.293607711791992
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 2049
+ Hide Left Dock: false
+ Hide Right Dock: true
+ Mission Control:
+ collapsed: false
+ MotionPlanning:
+ collapsed: false
+ MotionPlanning - Trajectory Slider:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd0000000400000000000004b7000006fffc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000001ea0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000264000003ca000002ec00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001e004d0069007300730069006f006e00200043006f006e00740072006f006c010000063a00000133000000f200ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000f000000005afc0100000002fb0000000800540069006d0065010000000000000f000000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000a3d000006ff00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 3840
+ X: 0
+ Y: 55
diff --git a/moma_demos/fetch_demo/config/search_waypoints.yaml b/moma_demos/fetch_demo/config/search_waypoints.yaml
deleted file mode 100644
index 4f2e26728..000000000
--- a/moma_demos/fetch_demo/config/search_waypoints.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-search_waypoints:
- initial:
- - [0, 0, 0] # x, y, yaw in degrees
- - [0, 0, 0]
- loop:
- - [0, 0, 0]
- - [0, 0, 0]
-
-
diff --git a/moma_demos/fetch_demo/launch/manipulation.launch b/moma_demos/fetch_demo/launch/manipulation.launch
index 2d505ee9b..540410cd7 100644
--- a/moma_demos/fetch_demo/launch/manipulation.launch
+++ b/moma_demos/fetch_demo/launch/manipulation.launch
@@ -1,25 +1,68 @@
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
+
+
+
+
+
-
-
-
-
+
-
+
+
+
+
+
+
+
diff --git a/moma_demos/fetch_demo/launch/navigation.launch b/moma_demos/fetch_demo/launch/navigation.launch
index e810762c5..af2137fdc 100644
--- a/moma_demos/fetch_demo/launch/navigation.launch
+++ b/moma_demos/fetch_demo/launch/navigation.launch
@@ -1,14 +1,18 @@
-
+
+
+
+
+
-
-
-
+
+
+
+
+
-
diff --git a/moma_demos/fetch_demo/launch/perception.launch b/moma_demos/fetch_demo/launch/perception.launch
index 39abed966..53f4e606e 100644
--- a/moma_demos/fetch_demo/launch/perception.launch
+++ b/moma_demos/fetch_demo/launch/perception.launch
@@ -1,7 +1,29 @@
+
+
+
-
+
+
+
+
+
+
+
+
-
+
diff --git a/moma_demos/fetch_demo/launch/run_demo.launch b/moma_demos/fetch_demo/launch/run_demo.launch
new file mode 100644
index 000000000..8925e20fb
--- /dev/null
+++ b/moma_demos/fetch_demo/launch/run_demo.launch
@@ -0,0 +1,5 @@
+
+
+
+
+
diff --git a/moma_demos/fetch_demo/launch/single_command.launch b/moma_demos/fetch_demo/launch/single_command.launch
deleted file mode 100644
index 8a60d06c0..000000000
--- a/moma_demos/fetch_demo/launch/single_command.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/moma_demos/fetch_demo/launch/user_interface.launch b/moma_demos/fetch_demo/launch/user_interface.launch
index a17687dd7..3b9cbb38c 100644
--- a/moma_demos/fetch_demo/launch/user_interface.launch
+++ b/moma_demos/fetch_demo/launch/user_interface.launch
@@ -1,10 +1,5 @@
-
-
-
-
-
-
-
+
+