Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

visualization tutorial is now kinetic compatible #92

Merged
merged 5 commits into from
Aug 10, 2017
Merged

visualization tutorial is now kinetic compatible #92

Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
69932d5
added kinetic compatability to setup_assistant
maxgittelman Jul 31, 2017
e2b74f2
make visualization tutorial kinetic compatable
maxgittelman Aug 1, 2017
1a8bdc3
corrected visualization tutorial to RViz checkbox that exists
maxgittelman Aug 1, 2017
eb9bdef
Merge branch 'kinetic-devel' into kinetic-devel
maxgittelman Aug 1, 2017
db35385
catkin build instead of catkin_make
maxgittelman Aug 2, 2017
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
68 changes: 37 additions & 31 deletions doc/ros_visualization/visualization_tutorial.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,21 @@ and you should now have a MoveIt! configuration for the PR2 that you
can use. This tutorial assumes the generated MoveIt! configuration
package is called "pr2_moveit_config".

Alternately, you can just install the pre-made MoveIt! configuration
for the PR2 in the pr2_moveit_config ROS package. To install it,
run::
Alternately, you can source the MoveIt! configuration
for the PR2 in the pr2_moveit_config ROS package. If you don't yet
have a workspace for this tutorial create one below. Otherwise continue
to sourcing::

sudo apt-get install ros-indigo-moveit-pr2
mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src
catkin build

Source and Build the moveit_config package

cd src
git clone https://github.com/davetcoleman/pr2_moveit_config.git
cd ..
catkin build

This tutorial does **not** require you to actually have a PR2 robot,
it just needs a set of working robot model files.
Expand All @@ -43,7 +53,7 @@ Step 1: Launch the demo and Configure the Plugin
* In the "Global Options" tab of the "Displays" subwindow, set the **Fixed Frame** field to "/odom_combined"

* Now, you can start configuring the Plugin for your robot (the PR2 in
this case). Click on "MotionPlanning" in "Displays".
this case). Click on "MotionPlanning" within "Displays".

* Make sure the **Robot Description** field is set to "robot_description"

Expand Down Expand Up @@ -86,25 +96,21 @@ The display states for each of these visualizations can be toggled on and off us
Step 3: Interact with the PR2
-----------------------------

* Press **Interact** in the top menu of rviz. You should see a
couple of interactive markers appear for the right arm of the PR2.
If you do not see the **Interact** button, you may need to add it;
click the plus sign and choose it from the popup window as shown below.

* One marker (corresponding to the orange colored right arm) will
be used to set the "Goal State" for motion planning. Another
marker corresponding to a green colored representation of the
right arm will be used to set the "Start State" for motion
planning.

* You will be able to use these markers (which are attached to the
tip link of each arm) to drag the arm around and change its
orientation.


.. image:: rviz_interact_button.png
:width: 250px

* Press **Interact** in the top menu of rviz (Note: some tools may be
hidden, press **+** in the top menu to add the **Interact** tool.
You should see a couple of interactive markers appear for the
right arm of the PR2.

* One marker (corresponding to the orange colored right arm) will
be used to set the "Goal State" for motion planning. Another
marker corresponding to a green colored representation of the
right arm will be used to set the "Start State" for motion
planning.

* You will be able to use these markers (which are attached to the
tip link of each arm) to drag the arm around and change its
orientation.

.. image:: rviz_plugin_interact.png
:width: 500px

Expand All @@ -117,13 +123,13 @@ with the other. The two links that are in collision will turn red.
.. image:: rviz_plugin_collision.png
:width: 300px

The "Use Collision-Aware IK" checkbox allows you to toggle the
behavior of the IK solver. When the checkbox is ticked, the solver
will keep attempting to find a collision-free solution for the desired
end-effector pose. When it is unticked, the solver will allow
collisions to happen in the solution. The links in collision will
always still be visualized in red, regardless of the state of the
checkbox.
The "Use Collision-Aware IK" checkbox found within the MotionPlanning
plugin allows you to toggle the behavior of the IK solver. When the
checkbox is ticked, the solver will keep attempting to find a
collision-free solution for the desired end-effector pose. When it is
unticked, the solver will allow collisions to happen in the solution.
The links in collision will always still be visualized in red,
regardless of the state of the checkbox.

.. image:: rviz_plugin_collision_aware_ik_checkbox.png
:width: 300px
Expand Down