diff --git a/CobotX/cobotx_a450/config/cobotx_a450.rviz b/CobotX/cobotx_a450/config/cobotx_a450.rviz index 68e72bc..9e19f57 100755 --- a/CobotX/cobotx_a450/config/cobotx_a450.rviz +++ b/CobotX/cobotx_a450/config/cobotx_a450.rviz @@ -8,11 +8,13 @@ Panels: - /Status1 - /RobotModel1 - /RobotModel1/Links1 + - /RobotModel1/Links1/joint71 + - /RobotModel1/Links1/joint71/Position1 - /Axes1 - /TF1 - /TF1/Frames1 Splitter Ratio: 0.5 - Tree Height: 609 + Tree Height: 657 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -190,7 +192,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.78243088722229 + Distance: 1.706533432006836 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -206,17 +208,17 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6454010605812073 + Pitch: 0.48479700088500977 Target Frame: - Yaw: 3.4754045009613037 + Yaw: 3.6504061222076416 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 906 + Height: 954 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001560000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: diff --git a/CobotX/cobotx_a450/config/mycobot_with_marker.rviz b/CobotX/cobotx_a450/config/mycobot_with_marker.rviz deleted file mode 100755 index 8b0dc7f..0000000 --- a/CobotX/cobotx_a450/config/mycobot_with_marker.rviz +++ /dev/null @@ -1,216 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - - /Marker1 - - /Marker1/Namespaces1 - Splitter Ratio: 0.5 - Tree Height: 775 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -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: 0.0299999993 - 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 - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - 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 - joint1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint6_flange: - 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/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - basic_shapes: - Value: true - joint1: - Value: true - joint2: - Value: true - joint3: - Value: true - joint4: - Value: true - joint5: - Value: true - joint6: - Value: true - joint6_flange: - Value: true - Marker Scale: 0.300000012 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - joint1: - joint2: - joint3: - joint4: - joint5: - joint6: - joint6_flange: - basic_shapes: - {} - Update Interval: 0 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker - Name: Marker - Namespaces: - basic_cube: true - Queue Size: 100 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: joint1 - 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 - Topic: /initialpose - - 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: 2.11990476 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.0706475973 - Y: -0.0814988762 - Z: 0.107583851 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.375398338 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.235389769 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1056 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1855 - X: 65 - Y: 24 diff --git a/mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf b/mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf index 84a2bca..c201421 100644 --- a/mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf +++ b/mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf @@ -195,7 +195,7 @@ - +