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update moveit config

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This commit is contained in:
wangWking 2022-05-13 13:27:31 +08:00
parent 6f32b251e7
commit 19d2ef8976
3 changed files with 10 additions and 12 deletions
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2
mycobot_pro/mycobot_600_moveit/.setup_assistant
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@ -8,4 +8,4 @@ moveit_setup_assistant_config:
CONFIG:
author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1652250059
generated_timestamp: 1652406964

2
mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
View file

@ -2,4 +2,4 @@ arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
kinematics_solver_attempts: 3

18
mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
View file

@ -4,15 +4,13 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.44475922
Tree Height: 195
Splitter Ratio: 0.742560029
Tree Height: 325
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@ -133,7 +131,7 @@ Visualization Manager:
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Planning Group: mycobot_arm
Query Goal State: true
Query Start State: true
Show Workspace: false
@ -227,15 +225,15 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: -0.040203426
Target Frame: joint1
Pitch: 0.439796686
Target Frame: base
Value: XYOrbit (rviz)
Yaw: 6.21176481
Yaw: 2.5317657
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 898
Height: 1028
Help:
collapsed: false
Hide Left Dock: false
@ -244,7 +242,7 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828