diff --git a/my_panda_description/CMakeLists.txt b/my_panda_description/CMakeLists.txt
new file mode 100644
index 0000000..24eae4c
--- /dev/null
+++ b/my_panda_description/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(my_panda_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(xacro REQUIRED)
+find_package(urdf REQUIRED)
+find_package(franka_description REQUIRED)
+
+install(DIRECTORY launch robots meshes rviz
+ DESTINATION share/${PROJECT_NAME}
+)
+ament_package()
diff --git a/my_panda_description/launch/description_launch.launch.py b/my_panda_description/launch/description_launch.launch.py
new file mode 100644
index 0000000..52e03cf
--- /dev/null
+++ b/my_panda_description/launch/description_launch.launch.py
@@ -0,0 +1,32 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ load_gripper_parameter_name = 'load_gripper'
+ load_gripper = LaunchConfiguration(load_gripper_parameter_name)
+
+ franka_xacro_file = os.path.join(get_package_share_directory('my_panda_description'), 'robots',
+ 'panda_arm.urdf.xacro')
+ robot_description = Command(
+ [FindExecutable(name='xacro'), ' ', franka_xacro_file, ' hand:=', load_gripper])
+
+
+ return LaunchDescription([
+ DeclareLaunchArgument(
+ load_gripper_parameter_name,
+ default_value='true',
+ description='Use Franka Gripper as end-effector if true. Robot is loaded without '
+ 'end-effector otherwise'),
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='screen',
+ parameters=[{'robot_description': robot_description}],
+ ),
+ ])
diff --git a/my_panda_description/meshes/table.mtl b/my_panda_description/meshes/table.mtl
new file mode 100644
index 0000000..97d6457
--- /dev/null
+++ b/my_panda_description/meshes/table.mtl
@@ -0,0 +1,16 @@
+newmtl table
+ Ns 10.0000
+ Ni 1.5000
+ d 1.0000
+ Tr 0.0000
+ Tf 1.0000 1.0000 1.0000
+ illum 2
+ Ka 0.0000 0.0000 0.0000
+ Kd 0.5880 0.5880 0.5880
+ Ks 0.0000 0.0000 0.0000
+ Ke 0.0000 0.0000 0.0000
+ map_Ka table.tga
+ map_Kd table.png
+
+
+
diff --git a/my_panda_description/meshes/table.obj b/my_panda_description/meshes/table.obj
new file mode 100644
index 0000000..c0f6b93
--- /dev/null
+++ b/my_panda_description/meshes/table.obj
@@ -0,0 +1,48 @@
+# table.obj
+#
+
+o table
+#mtllib table.mtl
+
+v -0.500000 -0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 0.500000
+v 0.500000 0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v 0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+
+vn 0.000000 0.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 -1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn -1.000000 0.000000 0.000000
+
+g table
+#usemtl table
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+s 2
+f 3/1/2 4/2/2 5/3/2
+f 5/3/2 4/2/2 6/4/2
+s 3
+f 5/4/3 6/3/3 7/2/3
+f 7/2/3 6/3/3 8/1/3
+s 4
+f 7/1/4 8/2/4 1/3/4
+f 1/3/4 8/2/4 2/4/4
+s 5
+f 2/1/5 8/2/5 4/3/5
+f 4/3/5 8/2/5 6/4/5
+s 6
+f 7/1/6 1/2/6 5/3/6
+f 5/3/6 1/2/6 3/4/6
+
diff --git a/my_panda_description/meshes/table.png b/my_panda_description/meshes/table.png
new file mode 100644
index 0000000..cdc3913
Binary files /dev/null and b/my_panda_description/meshes/table.png differ
diff --git a/my_panda_description/meshes/table.stl b/my_panda_description/meshes/table.stl
new file mode 100644
index 0000000..96e19ac
Binary files /dev/null and b/my_panda_description/meshes/table.stl differ
diff --git a/my_panda_description/package.xml b/my_panda_description/package.xml
new file mode 100644
index 0000000..db213aa
--- /dev/null
+++ b/my_panda_description/package.xml
@@ -0,0 +1,22 @@
+
+
+
+ my_panda_description
+ 0.0.0
+ TODO: Package description
+ user
+ TODO: License declaration
+
+ ament_cmake
+
+ xacro
+ urdf
+ franka_description
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ ament_cmake
+
+
diff --git a/my_panda_description/robots/hand.urdf.xacro b/my_panda_description/robots/hand.urdf.xacro
new file mode 100644
index 0000000..a50b18c
--- /dev/null
+++ b/my_panda_description/robots/hand.urdf.xacro
@@ -0,0 +1,5 @@
+
+
+
+
+
diff --git a/my_panda_description/robots/hand.xacro b/my_panda_description/robots/hand.xacro
new file mode 100644
index 0000000..57a0ca8
--- /dev/null
+++ b/my_panda_description/robots/hand.xacro
@@ -0,0 +1,93 @@
+
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diff --git a/my_panda_description/robots/panda_arm.ros2_control.xacro b/my_panda_description/robots/panda_arm.ros2_control.xacro
new file mode 100644
index 0000000..e0339d1
--- /dev/null
+++ b/my_panda_description/robots/panda_arm.ros2_control.xacro
@@ -0,0 +1,40 @@
+
+
+
+
+
+
+
+ fake_components/GenericSystem
+ ${fake_sensor_commands}
+ 0.0
+
+
+ franka_hardware/FrankaHardwareInterface
+ ${robot_ip}
+
+
+
+
+
+ ${initial_position}
+
+
+
+
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+
\ No newline at end of file
diff --git a/my_panda_description/robots/panda_arm.urdf.xacro b/my_panda_description/robots/panda_arm.urdf.xacro
new file mode 100644
index 0000000..c1b6693
--- /dev/null
+++ b/my_panda_description/robots/panda_arm.urdf.xacro
@@ -0,0 +1,40 @@
+
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\ No newline at end of file
diff --git a/my_panda_description/robots/panda_arm.xacro b/my_panda_description/robots/panda_arm.xacro
new file mode 100644
index 0000000..ac329dd
--- /dev/null
+++ b/my_panda_description/robots/panda_arm.xacro
@@ -0,0 +1,325 @@
+
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\ No newline at end of file
diff --git a/my_panda_description/rviz/visualize_franka.rviz b/my_panda_description/rviz/visualize_franka.rviz
new file mode 100644
index 0000000..2559dea
--- /dev/null
+++ b/my_panda_description/rviz/visualize_franka.rviz
@@ -0,0 +1,287 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1
+ Splitter Ratio: 0.5
+ Tree Height: 555
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/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:
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ 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:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_hand:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_hand_tcp:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ panda_leftfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link7:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link8:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_rightfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ base:
+ Value: true
+ panda_hand:
+ Value: true
+ panda_hand_tcp:
+ Value: true
+ panda_leftfinger:
+ Value: true
+ panda_link0:
+ Value: true
+ panda_link1:
+ Value: true
+ panda_link2:
+ Value: true
+ panda_link3:
+ Value: true
+ panda_link4:
+ Value: true
+ panda_link5:
+ Value: true
+ panda_link6:
+ Value: true
+ panda_link7:
+ Value: true
+ panda_link8:
+ Value: true
+ panda_rightfinger:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ base:
+ panda_link0:
+ panda_link1:
+ panda_link2:
+ panda_link3:
+ panda_link4:
+ panda_link5:
+ panda_link6:
+ panda_link7:
+ panda_link8:
+ panda_hand:
+ panda_hand_tcp:
+ {}
+ panda_leftfinger:
+ {}
+ panda_rightfinger:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 4.086756229400635
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.1970852017402649
+ Y: -0.4813797175884247
+ Z: 0.4797472357749939
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.4603985846042633
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.9004026651382446
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 72
+ Y: 60
diff --git a/my_panda_viz/CMakeLists.txt b/my_panda_viz/CMakeLists.txt
new file mode 100644
index 0000000..a797b2b
--- /dev/null
+++ b/my_panda_viz/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.8)
+project(my_panda_viz)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+
+ament_package()
diff --git a/my_panda_viz/launch/view_model.launch.py b/my_panda_viz/launch/view_model.launch.py
new file mode 100644
index 0000000..de116be
--- /dev/null
+++ b/my_panda_viz/launch/view_model.launch.py
@@ -0,0 +1,45 @@
+import os
+import sys
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+ rviz_file = os.path.join(get_package_share_directory('my_panda_viz'), 'rviz',
+ 'visualize_franka.rviz')
+
+ node_joint_state_publisher_gui = Node(
+ package='joint_state_publisher_gui',
+ executable='joint_state_publisher_gui',
+ name='joint_state_publisher_gui'
+ )
+
+ node_rviz = Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz',
+ arguments=['-d', rviz_file],
+ output='screen'
+ )
+
+ launch_franka_description = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(get_package_share_directory(
+ 'my_panda_description'), 'launch/description_launch.launch.py')
+ )
+ )
+
+ return LaunchDescription(
+ [
+ node_joint_state_publisher_gui,
+ node_rviz,
+ launch_franka_description,
+ ]
+ )
diff --git a/my_panda_viz/package.xml b/my_panda_viz/package.xml
new file mode 100644
index 0000000..36a0a3d
--- /dev/null
+++ b/my_panda_viz/package.xml
@@ -0,0 +1,24 @@
+
+
+
+ my_panda_viz
+ 0.0.0
+ TODO: Package description
+ user
+ TODO: License declaration
+
+ ament_cmake
+
+ my_panda_description
+ joint_state_publisher
+ joint_state_publisher_gui
+ robot_state_publisher
+ rviz2
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ ament_cmake
+
+
diff --git a/my_panda_viz/rviz/visualize_franka.rviz b/my_panda_viz/rviz/visualize_franka.rviz
new file mode 100644
index 0000000..906b94c
--- /dev/null
+++ b/my_panda_viz/rviz/visualize_franka.rviz
@@ -0,0 +1,287 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1
+ Splitter Ratio: 0.5
+ Tree Height: 555
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/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:
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ 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:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_hand:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_hand_tcp:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ panda_leftfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link7:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_link8:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ panda_rightfinger:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ base:
+ Value: true
+ panda_hand:
+ Value: true
+ panda_hand_tcp:
+ Value: true
+ panda_leftfinger:
+ Value: true
+ panda_link0:
+ Value: true
+ panda_link1:
+ Value: true
+ panda_link2:
+ Value: true
+ panda_link3:
+ Value: true
+ panda_link4:
+ Value: true
+ panda_link5:
+ Value: true
+ panda_link6:
+ Value: true
+ panda_link7:
+ Value: true
+ panda_link8:
+ Value: true
+ panda_rightfinger:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ base:
+ panda_link0:
+ panda_link1:
+ panda_link2:
+ panda_link3:
+ panda_link4:
+ panda_link5:
+ panda_link6:
+ panda_link7:
+ panda_link8:
+ panda_hand:
+ panda_hand_tcp:
+ {}
+ panda_leftfinger:
+ {}
+ panda_rightfinger:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 5.658919334411621
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ 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: 0.4903983175754547
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.6453982591629028
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 72
+ Y: 60