From a06bd7973eb2df086bc27aca50564491a6fbf551 Mon Sep 17 00:00:00 2001
From: mizonon <mizoguchi@rt-net.jp>
Date: Wed, 20 Nov 2024 14:58:26 +0900
Subject: [PATCH] =?UTF-8?q?Setup=20Assistant=E3=81=A7=E7=94=9F=E6=88=90?=
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---
 crane_x7_moveit_config/config/moveit.rviz     | 51 +++++++++++++++++++
 .../config/pilz_cartesian_limits.yaml         |  6 +++
 2 files changed, 57 insertions(+)
 create mode 100644 crane_x7_moveit_config/config/moveit.rviz
 create mode 100644 crane_x7_moveit_config/config/pilz_cartesian_limits.yaml

diff --git a/crane_x7_moveit_config/config/moveit.rviz b/crane_x7_moveit_config/config/moveit.rviz
new file mode 100644
index 00000000..f31651ed
--- /dev/null
+++ b/crane_x7_moveit_config/config/moveit.rviz
@@ -0,0 +1,51 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+  - Class: rviz_common/Help
+    Name: Help
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Name: MotionPlanning
+      Planned Path:
+        Loop Animation: true
+        State Display Time: 0.05 s
+        Trajectory Topic: display_planned_path
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+      Scene Robot:
+        Robot Alpha: 0.5
+      Value: true
+  Global Options:
+    Fixed Frame: world
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.0
+      Focal Point:
+        X: -0.1
+        Y: 0.25
+        Z: 0.30
+      Name: Current View
+      Pitch: 0.5
+      Target Frame: world
+      Yaw: -0.623
+Window Geometry:
+  Height: 975
+  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Width: 1200
diff --git a/crane_x7_moveit_config/config/pilz_cartesian_limits.yaml b/crane_x7_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 00000000..b2997caf
--- /dev/null
+++ b/crane_x7_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57