From 19d2ef89765ce8a846d5f7c5fcda801a3a88429f Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Fri, 13 May 2022 13:27:31 +0800
Subject: [PATCH] update moveit config

---
 .../mycobot_600_moveit/.setup_assistant        |  2 +-
 .../mycobot_600_moveit/config/kinematics.yaml  |  2 +-
 .../mycobot_600_moveit/launch/moveit.rviz      | 18 ++++++++----------
 3 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/mycobot_pro/mycobot_600_moveit/.setup_assistant b/mycobot_pro/mycobot_600_moveit/.setup_assistant
index 308692b..f5494c2 100644
--- a/mycobot_pro/mycobot_600_moveit/.setup_assistant
+++ b/mycobot_pro/mycobot_600_moveit/.setup_assistant
@@ -8,4 +8,4 @@ moveit_setup_assistant_config:
   CONFIG:
     author_name: wangweijian
     author_email: weijian.wang@elephantrobotics.com
-    generated_timestamp: 1652250059
\ No newline at end of file
+    generated_timestamp: 1652406964
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
index 031b273..3c16bbc 100644
--- a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
@@ -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
\ No newline at end of file
+  kinematics_solver_attempts: 3
diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
index 04b69cf..8158fc8 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
@@ -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