From 93f126c05e5bc24274f6fbecda3a51ca723d9af7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Kowalski?= Date: Wed, 12 Apr 2023 12:27:23 +0200 Subject: [PATCH 1/4] basic plugin usage - POC --- panther_description/rviz/panther.rviz | 36 ++++++++++++++++-------- panther_description/urdf/body.urdf.xacro | 8 ++++++ 2 files changed, 32 insertions(+), 12 deletions(-) diff --git a/panther_description/rviz/panther.rviz b/panther_description/rviz/panther.rviz index d0921990..4e9bfad2 100644 --- a/panther_description/rviz/panther.rviz +++ b/panther_description/rviz/panther.rviz @@ -6,8 +6,9 @@ Panels: Expanded: - /Global Options1 - /Status1 + - /MeshDisplayCustom1 Splitter Ratio: 0.5 - Tree Height: 882 + Tree Height: 845 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -84,6 +85,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + front_animation_link: + Alpha: 1 + Show Axes: false + Show Trail: false front_light_link: Alpha: 1 Show Axes: false @@ -112,6 +117,13 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true + - Class: rviz_textured_quads/MeshDisplayCustom + Enabled: true + Image Topic: /lights/driver/front_panel_frame + Meters per pixel: 0.010999999940395355 + Name: MeshDisplayCustom + Quad Frame: front_animation_link + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -140,7 +152,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 4.016597270965576 + Distance: 0.8930684924125671 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -148,25 +160,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.07880913466215134 - Y: -0.06532807648181915 - Z: 0.09988870471715927 + X: 0.23310281336307526 + Y: 0.03280099108815193 + Z: 0.1757199615240097 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.40539878606796265 + Pitch: 0.36040011048316956 Target Frame: - Yaw: 0.7453983426094055 + Yaw: 5.703577041625977 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1173 + Height: 1136 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd000000040000000000000156000003fbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003fb000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003fbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003fb000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d00650100000000000007380000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005dc000003fb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000003d6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003d6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003fbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003fb000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005da000003d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -175,6 +187,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1848 - X: 1992 - Y: 0 + Width: 1846 + X: 74 + Y: 27 diff --git a/panther_description/urdf/body.urdf.xacro b/panther_description/urdf/body.urdf.xacro index 20861fb8..9fbb9bd1 100644 --- a/panther_description/urdf/body.urdf.xacro +++ b/panther_description/urdf/body.urdf.xacro @@ -57,6 +57,14 @@ + + + + + + + + From 26b35388b89ac649d86d2d6de59f77a94057fb14 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Kowalski?= Date: Wed, 19 Apr 2023 21:40:19 +0200 Subject: [PATCH 2/4] add rear animation texture --- panther_description/rviz/panther.rviz | 18 +++++++++++++++--- panther_description/urdf/body.urdf.xacro | 8 ++++++++ 2 files changed, 23 insertions(+), 3 deletions(-) diff --git a/panther_description/rviz/panther.rviz b/panther_description/rviz/panther.rviz index 4e9bfad2..423f5127 100644 --- a/panther_description/rviz/panther.rviz +++ b/panther_description/rviz/panther.rviz @@ -6,7 +6,6 @@ Panels: Expanded: - /Global Options1 - /Status1 - - /MeshDisplayCustom1 Splitter Ratio: 0.5 Tree Height: 845 - Class: rviz/Selection @@ -97,6 +96,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + rear_animation_link: + Alpha: 1 + Show Axes: false + Show Trail: false rear_light_link: Alpha: 1 Show Axes: false @@ -117,13 +120,22 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true - - Class: rviz_textured_quads/MeshDisplayCustom + - Canvas mesh high: 0.014999999664723873 + Class: rviz_textured_quads/MeshDisplayCustom Enabled: true Image Topic: /lights/driver/front_panel_frame - Meters per pixel: 0.010999999940395355 + Meters per pixel: 0.010900000110268593 Name: MeshDisplayCustom Quad Frame: front_animation_link Value: true + - Canvas mesh high: 0.014999999664723873 + Class: rviz_textured_quads/MeshDisplayCustom + Enabled: true + Image Topic: /lights/driver/rear_panel_frame + Meters per pixel: 0.010900000110268593 + Name: MeshDisplayCustom + Quad Frame: rear_animation_link + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 diff --git a/panther_description/urdf/body.urdf.xacro b/panther_description/urdf/body.urdf.xacro index 9fbb9bd1..f8131148 100644 --- a/panther_description/urdf/body.urdf.xacro +++ b/panther_description/urdf/body.urdf.xacro @@ -74,6 +74,14 @@ + + + + + + + + From 17c9375e06265f31f21f3d60a4809a55f03baffd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Kowalski?= Date: Wed, 19 Apr 2023 22:12:33 +0200 Subject: [PATCH 3/4] fix rviz config --- panther_description/rviz/panther.rviz | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/panther_description/rviz/panther.rviz b/panther_description/rviz/panther.rviz index 423f5127..dbbc568e 100644 --- a/panther_description/rviz/panther.rviz +++ b/panther_description/rviz/panther.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /Status1 Splitter Ratio: 0.5 - Tree Height: 845 + Tree Height: 882 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -164,7 +164,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 0.8930684924125671 + Distance: 4.016597270965576 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -172,25 +172,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.23310281336307526 - Y: 0.03280099108815193 - Z: 0.1757199615240097 + X: 0.07880913466215134 + Y: -0.06532807648181915 + Z: 0.09988870471715927 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.36040011048316956 + Pitch: 0.40539878606796265 Target Frame: - Yaw: 5.703577041625977 + Yaw: 0.7453983426094055 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1136 + Height: 1173 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd000000040000000000000156000003d6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003d6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003fbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003fb000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005da000003d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000003fbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003fb000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003fbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003fb000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d00650100000000000007380000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005dc000003fb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -199,6 +199,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1846 - X: 74 - Y: 27 + Width: 1848 + X: 1992 + Y: 0 \ No newline at end of file From 6c855035eea7adbd4e74a6803f9be1a1e974b8a2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Kowalski?= Date: Wed, 17 May 2023 14:32:37 +0200 Subject: [PATCH 4/4] fix .rviz file --- panther_description/rviz/panther.rviz | 24 ------------------------ 1 file changed, 24 deletions(-) diff --git a/panther_description/rviz/panther.rviz b/panther_description/rviz/panther.rviz index dbbc568e..e730e3e8 100644 --- a/panther_description/rviz/panther.rviz +++ b/panther_description/rviz/panther.rviz @@ -84,10 +84,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - front_animation_link: - Alpha: 1 - Show Axes: false - Show Trail: false front_light_link: Alpha: 1 Show Axes: false @@ -96,10 +92,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - rear_animation_link: - Alpha: 1 - Show Axes: false - Show Trail: false rear_light_link: Alpha: 1 Show Axes: false @@ -120,22 +112,6 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true - - Canvas mesh high: 0.014999999664723873 - Class: rviz_textured_quads/MeshDisplayCustom - Enabled: true - Image Topic: /lights/driver/front_panel_frame - Meters per pixel: 0.010900000110268593 - Name: MeshDisplayCustom - Quad Frame: front_animation_link - Value: true - - Canvas mesh high: 0.014999999664723873 - Class: rviz_textured_quads/MeshDisplayCustom - Enabled: true - Image Topic: /lights/driver/rear_panel_frame - Meters per pixel: 0.010900000110268593 - Name: MeshDisplayCustom - Quad Frame: rear_animation_link - Value: true Enabled: true Global Options: Background Color: 48; 48; 48