should moveit.rviz be modified directly

asked 2018-09-25 02:43:39 -0500

roskidos
110 ●14 ●20 ●28

should moveit.rviz be modified directly

should one directly edit moveit.rviz (generated by Moveit Setup Assistant - MSA) or there's another way to configure how rviz is loaded? e.g. what rviz plugins to use

For example, one has configured this moveit.rviz for one robot. Another one uses MSA to generate config package for another robot but he still wants to imports the configuration from the last moveit.rviz. Should he just manually edit the 2nd moveit.rviz? I am quite certain this process is error-prone. Is there a better way?

I am using ROS Indigo on Ubuntu 14.04

answered 2018-09-25 06:00:53 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Should he just manually edit the 2nd moveit.rviz?

It's just a simple text file, so editing it would be one option.

I am quite certain this process is error-prone. Is there a better way?

Copying the .rviz file from the other package to the new moveit config package?

There is nothing special about the file (ie: nothing robot specific per se), so you can just copy them.

Another option would be to open the .rviz config file from the first package while you have the second loaded, and then save the RViz config to the .rviz file in the second moveit config package (essentially overwriting it).

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Since I am mentioning about two different robots, is it possible to simply save to overwrite? I see in .rvi z there's some sort of robot description i.e link names. If there's a better porting that keeps the differences for robots, that'll be convenient

roskidos ( 2018-09-25 18:53:53 -0500 )edit

The config rviz save and overwrite does not keep the differences from the 1st rviz even though it "smartly" updates the robot descriptions/names for the 2nd robot. So, instead I resort to use a diff and merge to port the 1st rviz to the 2nd one. But like you said, this is a direct manual edit

roskidos ( 2018-09-25 20:20:19 -0500 )edit

The link names are updated every time you save the config. They are read from the robot_description parameter by the displays that need/use them.

I'm not sure I understand you when you write:

The config rviz save and overwrite does not keep the differences from the 1st rviz

gvdhoorn ( 2018-09-26 02:38:40 -0500 )edit

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