From 357db0e2e2627e7bae1aca9af47566688553c580 Mon Sep 17 00:00:00 2001 From: MShields1986 Date: Fri, 17 Nov 2023 15:27:48 +0000 Subject: [PATCH 1/2] Update --- iiwa_moveit/launch/moveit.rviz | 87 +++++++++++++++++++++------------- 1 file changed, 53 insertions(+), 34 deletions(-) diff --git a/iiwa_moveit/launch/moveit.rviz b/iiwa_moveit/launch/moveit.rviz index 11435fee..962cef92 100644 --- a/iiwa_moveit/launch/moveit.rviz +++ b/iiwa_moveit/launch/moveit.rviz @@ -5,9 +5,8 @@ Panels: Property Tree Widget: Expanded: - /MotionPlanning1 - - /MotionPlanning1/Status1 - Splitter Ratio: 0.74256 - Tree Height: 532 + Splitter Ratio: 0.7425600290298462 + Tree Height: 367 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -15,6 +14,10 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -24,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -36,17 +39,31 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false MoveIt_Planning_Attempts: 10 MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: true MoveIt_Use_Constraint_Aware_IK: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + 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 @@ -97,28 +114,27 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false world: Alpha: 1 Show Axes: false Show Trail: false - Loop Animation: 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 + Use Sim Time: false Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 @@ -136,7 +152,7 @@ Visualization Manager: Scene Geometry: Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -192,10 +208,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false world: Alpha: 1 Show Axes: false @@ -204,9 +216,11 @@ Visualization Manager: Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 0.1 Enabled: true Global Options: Background Color: 48; 48; 48 + Default Light: true Fixed Frame: world Frame Rate: 30 Name: root @@ -219,36 +233,41 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 3.34699 + Distance: 3.3469901084899902 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: 0.113567 - Y: 0.10592 - Z: 2.23518e-07 + X: 0.11356700211763382 + Y: 0.10592000186443329 + Z: 2.2351800055275817e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.359797 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.8497965335845947 Target Frame: world - Value: XYOrbit (rviz) - Yaw: 5.67496 + Yaw: 3.7849502563476562 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1138 + Height: 1016 Help: collapsed: false Hide Left Dock: false Hide Right Dock: false - Motion Planning: + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002a200000422fc0200000005fb000000100044006900730070006c0061007900730100000033000002a5000000d801000005fb0000000800480065006c00700000000342000000bb0000007101000005fb0000000a0056006900650077007300000003b0000000b0000000ab01000005fb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000002db0000017a00000171010000050000047f0000042200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002a20000039efc0200000007fb000000100044006900730070006c006100790073010000003d00000200000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000002db0000017a0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000243000001980000017d00ffffff000004a80000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 1828 - X: 88 - Y: 0 + Width: 1872 + X: 48 + Y: 27 From 542c193cfb267f77e6d5ed24f8ab9ac7a17488d2 Mon Sep 17 00:00:00 2001 From: MShields1986 Date: Thu, 21 Mar 2024 16:42:52 +0000 Subject: [PATCH 2/2] Fix for issue 304 and service name corrected --- iiwa_ros/src/service/path_parameters_lin.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/iiwa_ros/src/service/path_parameters_lin.cpp b/iiwa_ros/src/service/path_parameters_lin.cpp index 14636ec3..5af8e675 100644 --- a/iiwa_ros/src/service/path_parameters_lin.cpp +++ b/iiwa_ros/src/service/path_parameters_lin.cpp @@ -36,7 +36,7 @@ namespace service { void PathParametersLinService::init(const std::string& robot_namespace) { setup(robot_namespace); ros::NodeHandle node_handle{}; - service_name_ = ros_namespace_ + "configuration/setSmartServoLinSpeedLimits"; + service_name_ = ros_namespace_ + "configuration/setSmartServoLinLimits"; client_ = node_handle.serviceClient(service_name_); service_ready_ = true; } @@ -48,7 +48,7 @@ bool PathParametersLinService::callService() { service_error_ = config_.response.error; ROS_ERROR_STREAM(service_name_ << " failed, Java error: " << service_error_); } else if (verbose_) { - ROS_INFO_STREAM(ros::this_node::getName() << ":" << service_name_ << " successfully called."); + ROS_INFO_STREAM(ros::this_node::getName() << ": " << service_name_ << " successfully called."); } } else if (verbose_) { ROS_ERROR_STREAM(service_name_ << " could not be called"); @@ -60,6 +60,7 @@ bool PathParametersLinService::callService() { bool PathParametersLinService::setMaxCartesianVelocity(const geometry_msgs::Twist max_cartesian_velocity) { config_.request.max_cartesian_velocity = max_cartesian_velocity; + return callService(); } } // namespace service