(4) Gazebo rviz

README.md

@@ -81,6 +81,7 @@ The pose of the camera in the world is defined within the launchfile [camera_dis
 | `tf_pub_rate` | `Rate at which robot_state_publisher should publish transforms.` |
 | `paused` | `Starts Gazebo in paused mode` |
 | `gui` | `Starts Gazebo gui` |
+| `rviz` | `Launch rviz with gazebo (false by defalut)` |
 
 As shown above, the gazebo launch file has some additional parameters that can be set.
 However any of the previously stated parameters can also be used.
@@ -104,6 +105,11 @@ rosrun tracebot_mockup_gazebo gazebo_model_test.py
 
 You should see that all the motors trigger and the arms curl up.
 
+Rviz can also be set to launch with the gazebo simulation using:
+```bash
+roslaunch tracebot_mockup_description view_tracebot_mockup.launch rviz:=true
+```
+
 ## Setup
 
 There's two different possibilities to use the packages in this repository: installing locally or running the pre-built docker images.

tracebot_mockup_description/launch/view_tracebot_mockup.launch

@@ -33,7 +33,7 @@
   />
 
   <!--Load robot in Rviz-->
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <!--node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/-->
+  <!--node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/-->
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find tracebot_mockup_description)/config/tracebot_mockup.rviz"/>
 </launch>

tracebot_mockup_gazebo/config/tracebot_mockup.rviz

@@ -0,0 +1,259 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 1520
+  - 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: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed 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
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_base_link_inertia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_robot_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wrist_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        right_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        right_base_link_inertia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        right_forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_robot_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        right_shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        right_upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wrist_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        robot_mount_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    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: 6.428950786590576
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 2032
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f7000006e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000006e80000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000006e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000006e80000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7000000060fc0100000002fb0000000800540069006d0065010000000000000e700000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000b02000006e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 3696
+  X: 144
+  Y: 54

tracebot_mockup_gazebo/launch/view_tracebot_gazebo.launch

@@ -17,6 +17,8 @@
 
   <arg name="left_arm_model" default="ur5e"/>
   <arg name="right_arm_model" default="ur5e"/>
+
+  <arg name="rviz" default="false"/>
 
   <!--Add arguments to robot description-->
   <param name="robot_description" command="$(find xacro)/xacro '$(find tracebot_mockup_gazebo)/urdf/tracebot_mockup.urdf.xacro'
@@ -60,4 +62,6 @@
     <arg name="paused" value="$(arg paused)"/>
     <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
   </include>
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find tracebot_mockup_gazebo)/config/tracebot_mockup.rviz" if="$(arg rviz)"/>
 </launch>