diff --git a/myworkcell_moveit_config/CMakeLists.txt b/myworkcell_moveit_config/CMakeLists.txt
index df39c54..a9b5d35 100644
--- a/myworkcell_moveit_config/CMakeLists.txt
+++ b/myworkcell_moveit_config/CMakeLists.txt
@@ -5,6 +5,7 @@ find_package(catkin REQUIRED)
catkin_package()
+install(DIRECTORY rviz DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/myworkcell_moveit_config/launch/moveit_rviz.launch b/myworkcell_moveit_config/launch/moveit_rviz.launch
index a4605c0..e98e18c 100644
--- a/myworkcell_moveit_config/launch/moveit_rviz.launch
+++ b/myworkcell_moveit_config/launch/moveit_rviz.launch
@@ -11,5 +11,5 @@
-
+
diff --git a/myworkcell_moveit_config/launch/myworkcell_planning_execution.launch b/myworkcell_moveit_config/launch/myworkcell_planning_execution.launch
index 1aed3f9..17d334e 100644
--- a/myworkcell_moveit_config/launch/myworkcell_planning_execution.launch
+++ b/myworkcell_moveit_config/launch/myworkcell_planning_execution.launch
@@ -44,7 +44,7 @@
-
+
diff --git a/myworkcell_moveit_config/rviz/moveit_rviz.rviz b/myworkcell_moveit_config/rviz/moveit_rviz.rviz
new file mode 100644
index 0000000..8789133
--- /dev/null
+++ b/myworkcell_moveit_config/rviz/moveit_rviz.rviz
@@ -0,0 +1,330 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /Grid1
+ Splitter Ratio: 0.5
+ Tree Height: 140
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Preferences:
+ PromptSaveOnExit: true
+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: 0.029999999329447746
+ Value: Billboards
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 1000
+ Reference Frame:
+ Value: true
+ - Acceleration_Scaling_Factor: 1
+ Class: moveit_rviz_plugin/MotionPlanning
+ Enabled: true
+ Move Group Namespace: ""
+ 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: false
+ MoveIt_Use_Constraint_Aware_IK: false
+ 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
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ ee_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ forearm_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ shoulder_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ table:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ upper_arm_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ world:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wrist_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: 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
+ Planning Metrics:
+ Payload: 1
+ Show Joint Torques: false
+ Show Manipulability: false
+ Show Manipulability Index: false
+ Show Weight Limit: false
+ TextHeight: 0.07999999821186066
+ Planning Request:
+ Colliding Link Color: 255; 0; 0
+ Goal State Alpha: 1
+ Goal State Color: 250; 128; 0
+ Interactive Marker Size: 0
+ Joint Violation Color: 255; 0; 255
+ Planning Group: manipulator
+ Query Goal State: true
+ Query Start State: false
+ Show Workspace: false
+ Start State Alpha: 1
+ Start State Color: 0; 255; 0
+ Planning Scene Topic: move_group/monitored_planning_scene
+ Robot Description: robot_description
+ Scene Geometry:
+ Scene Alpha: 0.8999999761581421
+ Scene Color: 50; 230; 50
+ Scene Display Time: 0.009999999776482582
+ Show Scene Geometry: true
+ Voxel Coloring: Z-Axis
+ Voxel Rendering: Occupied Voxels
+ Scene Robot:
+ Attached Body Color: 150; 50; 150
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ ee_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ forearm_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ shoulder_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ table:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ upper_arm_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ world:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ wrist_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Robot Alpha: 1
+ Show Robot Collision: false
+ Show Robot Visual: true
+ Value: true
+ Velocity_Scaling_Factor: 1
+ Enabled: true
+ Global Options:
+ Background Color: 255; 255; 255
+ Default Light: true
+ Fixed Frame: world
+ 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
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - 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: 5.663184642791748
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.3600196838378906
+ Y: 0.17283253371715546
+ Z: 1.2450151443481445
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.050397906452417374
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.7703980207443237
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 752
+ Hide Left Dock: false
+ Hide Right Dock: false
+ MotionPlanning:
+ collapsed: false
+ MotionPlanning - Slider:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd0000000400000000000001f300000257fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000010c000001880000017d00ffffff000000010000010f00000257fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000257000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055600000039fc0100000002fb0000000800540069006d0065010000000000000556000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000025700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1366
+ X: 0
+ Y: 27