diff --git a/CMakeLists.txt b/CMakeLists.txt index d678bc9f0d..1bb11f1726 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -62,6 +62,7 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS}) # add_subdirectory(doc/planning) # add_subdirectory(doc/planning_scene) # add_subdirectory(doc/planning_scene_ros_api) +add_subdirectory(doc/quickstart_in_rviz) # add_subdirectory(doc/robot_model_and_robot_state) # add_subdirectory(doc/state_display) # add_subdirectory(doc/subframes) diff --git a/doc/quickstart_in_rviz/CMakeLists.txt b/doc/quickstart_in_rviz/CMakeLists.txt new file mode 100644 index 0000000000..f3d44dcb6c --- /dev/null +++ b/doc/quickstart_in_rviz/CMakeLists.txt @@ -0,0 +1 @@ +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) \ No newline at end of file diff --git a/doc/quickstart_in_rviz/launch/demo.launch.py b/doc/quickstart_in_rviz/launch/demo.launch.py new file mode 100644 index 0000000000..9d51fff59b --- /dev/null +++ b/doc/quickstart_in_rviz/launch/demo.launch.py @@ -0,0 +1,139 @@ +import os +import yaml +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.conditions import IfCondition, UnlessCondition +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +def load_file(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + with open(absolute_file_path, 'r') as file: + return file.read() + except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + return None + +def load_yaml(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + with open(absolute_file_path, 'r') as file: + return yaml.safe_load(file) + except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + return None + + +def generate_launch_description(): + + # Command-line arguments + tutorial_arg = DeclareLaunchArgument( + 'rviz_tutorial', default_value='False', description='Tutorial flag') + + # planning_context + robot_description_config = load_file('moveit_resources_panda_description', 'urdf/panda.urdf') + robot_description = {'robot_description' : robot_description_config} + + robot_description_semantic_config = load_file('moveit_resources_panda_moveit_config', 'config/panda.srdf') + robot_description_semantic = {'robot_description_semantic' : robot_description_semantic_config} + + kinematics_yaml = load_yaml('moveit_resources_panda_moveit_config', 'config/kinematics.yaml') + robot_description_kinematics = { 'robot_description_kinematics' : kinematics_yaml } + + # Planning Functionality + ompl_planning_pipeline_config = { 'move_group' : { + 'planning_plugin' : 'ompl_interface/OMPLPlanner', + 'request_adapters' : """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""" , + 'start_state_max_bounds_error' : 0.1 } } + ompl_planning_yaml = load_yaml('moveit_resources_panda_moveit_config', 'config/ompl_planning.yaml') + ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) + + # Trajectory Execution Functionality + controllers_yaml = load_yaml('run_move_group', 'config/controllers.yaml') + moveit_controllers = { 'moveit_simple_controller_manager' : controllers_yaml, + 'moveit_controller_manager': 'moveit_simple_controller_manager/MoveItSimpleControllerManager'} + + trajectory_execution = {'moveit_manage_controllers': True, + 'trajectory_execution.allowed_execution_duration_scaling': 1.2, + 'trajectory_execution.allowed_goal_duration_margin': 0.5, + 'trajectory_execution.allowed_start_tolerance': 0.01} + + planning_scene_monitor_parameters = {"publish_planning_scene": True, + "publish_geometry_updates": True, + "publish_state_updates": True, + "publish_transforms_updates": True} + + # Start the actual move_group node/action server + run_move_group_node = Node(package='moveit_ros_move_group', + executable='move_group', + output='screen', + parameters=[robot_description, + robot_description_semantic, + kinematics_yaml, + ompl_planning_pipeline_config, + trajectory_execution, + moveit_controllers, + planning_scene_monitor_parameters]) + + # RViz + tutorial_mode = LaunchConfiguration('rviz_tutorial') + rviz_base = os.path.join(get_package_share_directory('moveit2_tutorials'), 'launch') + rviz_full_config = os.path.join(rviz_base, 'panda_moveit_config_demo.rviz') + rviz_empty_config = os.path.join(rviz_base, 'panda_moveit_config_demo_empty.rviz') + rviz_node_tutorial = Node(package='rviz2', + executable='rviz2', + name='rviz2', + output='log', + arguments= ['-d', rviz_empty_config], + parameters=[robot_description, + robot_description_semantic, + ompl_planning_pipeline_config, + kinematics_yaml], + condition=IfCondition(tutorial_mode)) + rviz_node = Node(package='rviz2', + executable='rviz2', + name='rviz2', + output='log', + arguments= ['-d', rviz_full_config], + parameters=[robot_description, + robot_description_semantic, + ompl_planning_pipeline_config, + kinematics_yaml], + condition=UnlessCondition(tutorial_mode)) + + # Static TF + static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world', 'panda_link0']) + + # Publish TF + robot_state_publisher = Node(package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='both', + parameters=[robot_description]) + + # Fake joint driver + fake_joint_driver_node = Node(package='fake_joint_driver', + executable='fake_joint_driver_node', + parameters=[{'controller_name': 'panda_arm_controller'}, + os.path.join(get_package_share_directory("run_move_group"), "config", "panda_controllers.yaml"), + os.path.join(get_package_share_directory("run_move_group"), "config", "start_positions.yaml"), + robot_description] + ) + + # Warehouse mongodb server + mongodb_server_node = Node(package='warehouse_ros_mongo', + executable='mongo_wrapper_ros.py', + parameters=[{'warehouse_port': 33829}, + {'warehouse_host': 'localhost'}, + {'warehouse_plugin': 'warehouse_ros_mongo::MongoDatabaseConnection'}], + output='screen') + + return LaunchDescription([ tutorial_arg, rviz_node, rviz_node_tutorial, static_tf, robot_state_publisher, run_move_group_node, fake_joint_driver_node, mongodb_server_node ]) diff --git a/doc/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz b/doc/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz new file mode 100644 index 0000000000..aac81fa150 --- /dev/null +++ b/doc/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz @@ -0,0 +1,497 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PlanningScene1 + - /Trajectory1 + Splitter Ratio: 0.5 + Tree Height: 137 + - 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 +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 + - Class: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + 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 + panda_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + panda_rightfinger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + 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 + panda_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + panda_rightfinger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Value: true + - Acceleration_Scaling_Factor: 0.1 + 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: true + 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 + panda_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + panda_rightfinger: + 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: panda_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /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 + panda_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + panda_rightfinger: + 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: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: panda_link0 + 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 + 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: 3.8008623123168945 + 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: 0.5753980278968811 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.4903981685638428 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 812 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1533 + X: 1992 + Y: 231 diff --git a/doc/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz b/doc/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz new file mode 100644 index 0000000000..a2e56fb300 --- /dev/null +++ b/doc/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz @@ -0,0 +1,123 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 865 + - 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 +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 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: panda_link0 + 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 + 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: 3.8008623123168945 + 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: 0.5753980278968811 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.4903981685638428 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 1992 + Y: 27 diff --git a/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst index 4a471f8f19..a0910b3fbc 100644 --- a/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst +++ b/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst @@ -1,8 +1,3 @@ -:moveit1: - -.. - Once updated for MoveIt 2, remove all lines above title (including this comment and :moveit1: tag) - MoveIt Quickstart in RViz ========================== .. image:: rviz_plugin_head.png @@ -19,7 +14,7 @@ Step 1: Launch the Demo and Configure the Plugin * Launch the demo: :: - roslaunch panda_moveit_config demo.launch rviz_tutorial:=true + ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true * If you are doing this for the first time, you should see an empty world in RViz and will have to add the Motion Planning Plugin: @@ -46,7 +41,7 @@ Step 1: Launch the Demo and Configure the Plugin :width: 405px .. |C| image:: rviz_plugin_motion_planning_add.png - :width: 300px + :width: 400px .. |D| image:: rviz_start.png :width: 700px @@ -57,10 +52,10 @@ Step 1: Launch the Demo and Configure the Plugin * Make sure the **Robot Description** field is set to ``robot_description``. - * Make sure the **Planning Scene Topic** field is set to ``move_group/monitored_planning_scene``. + * Make sure the **Planning Scene Topic** field is set to ``/monitored_planning_scene``. Click on topic name to expose topic-name drop-down. - * Make sure the **Trajectory Topic** under **Planned Path** is set to ``/move_group/display_planned_path``. + * Make sure the **Trajectory Topic** under **Planned Path** is set to ``/display_planned_path``. * In **Planning Request**, change the **Planning Group** to ``panda_arm``. You can also see this in the MotionPlanning panel in the bottom left. @@ -73,7 +68,7 @@ Step 2: Play with the Visualized Robots --------------------------------------- There are four different overlapping visualizations: -#. The robot's configuration in the ``move_group/monitored_planning_scene`` planning environment (active by default). +#. The robot's configuration in the ``/monitored_planning_scene`` planning environment (active by default). #. The planned path for the robot (active by default). @@ -171,7 +166,7 @@ Introspecting Trajectory Waypoints You can visually introspect trajectories point by point in RViz. -* From "`Panels`" menu, select "`MotionPlanning - Slider`". You'll see a new Slider panel on RViz. +* From "`Panels`" menu, select "`Trajectory - Trajectory Slider`". You'll see a new Slider panel on RViz. * Set your goal pose, then run `Plan`. @@ -212,7 +207,10 @@ RViz Visual Tools +++++++++++++++++ Many of the tutorials use ``moveit_visual_tools`` to step through a demo. Before continuing on to the next tutorials it is a good idea to enable the **RvizVisualToolsGui**. -From "`Panels`" menu, select "`RvizVisualToolsGui`". You'll see the new panel added to RViz. +From "`Panels`" menu, select "`Add New Panels`". From the menu, select "`RvizVisualToolsGui`" and click OK. 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