Moveit setup assistant generated the PR2's moveit.rviz file

[UltronDestroyer]

And it doesn't allow the moveit.rviz config to be passed in for the moveit_rviz.launch. This was auto generated by the moveit assistant.

Edit: I should add that the input URDF used was not the PR2.

Panels:

• Class: rviz/Displays
  Help Height: 84
  Name: Displays
  Property Tree Widget:
  Expanded:
  - /MotionPlanning1
  Splitter Ratio: 0.74256
  Tree Height: 664
• Class: rviz/Help
  Name: Help
• Class: rviz/Views
  Expanded:
  • /Current View1
    Name: Views
    Splitter Ratio: 0.5
    Visualization Manager:
    Class: ""
    Displays:

- Alpha: 0.5
  Cell Size: 1
  Class: rviz/Grid
  Color: 160; 160; 164
  Enabled: true
  Line Style:
    Line Width: 0.03
    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
- Class: moveit_rviz_plugin/MotionPlanning
  Enabled: true
  MoveIt_Goal_Tolerance: 0
  MoveIt_Planning_Time: 5
  MoveIt_Use_Constraint_Aware_IK: true
  MoveIt_Warehouse_Host: 127.0.0.1
  MoveIt_Warehouse_Port: 33829
  Name: MotionPlanning
  Planned Path:
    Links:
      base_bellow_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      base_footprint:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      base_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      bl_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      bl_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      bl_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      br_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      br_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      br_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      double_stereo_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fl_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fl_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fl_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fr_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fr_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fr_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_kinect_ir_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_kinect_rgb_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_prosilica_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_pan_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_plate_frame:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_tilt_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_elbow_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_forearm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_forearm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_l_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_l_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_motor_accelerometer_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_palm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_r_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_r_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_shoulder_lift_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_shoulder_pan_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_upper_arm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_upper_arm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_wrist_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_wrist_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      laser_tilt_mount_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_elbow_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_forearm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_forearm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_l_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_l_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_motor_accelerometer_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_palm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_r_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_r_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_shoulder_lift_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_shoulder_pan_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_upper_arm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_upper_arm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_wrist_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_wrist_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      sensor_mount_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      torso_lift_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
    Loop Animation: true
    Robot Alpha: 0.5
    Show Robot Collision: false
    Show Robot Visual: true
    Show Trail: false
    State Display Time: 0.05 s
    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
  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: left_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: move_group/monitored_planning_scene
  Robot Description: robot_description
  Scene Geometry:
    Scene Alpha: 1
    Scene Color: 50; 230; 50
    Scene Display Time: 0.2
    Show Scene Geometry: true
    Voxel Coloring: Z-Axis
    Voxel Rendering: Occupied Voxels
  Scene Robot:
    Attached Body Color: 150; 50; 150
    Links:
      base_bellow_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      base_footprint:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      base_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      bl_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      bl_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      bl_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      br_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      br_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      br_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      double_stereo_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fl_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fl_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fl_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fr_caster_l_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fr_caster_r_wheel_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      fr_caster_rotation_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_kinect_ir_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_kinect_rgb_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_mount_prosilica_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_pan_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_plate_frame:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      head_tilt_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_elbow_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_forearm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_forearm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_l_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_l_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_motor_accelerometer_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_palm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_r_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_gripper_r_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_shoulder_lift_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_shoulder_pan_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_upper_arm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_upper_arm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_wrist_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      l_wrist_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      laser_tilt_mount_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_elbow_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_forearm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_forearm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_l_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_l_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_motor_accelerometer_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_palm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_r_finger_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_gripper_r_finger_tip_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_shoulder_lift_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_shoulder_pan_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_upper_arm_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_upper_arm_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_wrist_flex_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      r_wrist_roll_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      sensor_mount_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
      torso_lift_link:
        Alpha: 1
        Show Axes: false
        Show Trail: false
        Value: true
    Robot Alpha: 0.5
    Show Scene Robot: true
  Value: true

Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: /base_footprint
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.9965
Focal Point:
X: 0.113567
Y: 0.10592
Z: 2.23518e-07
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.509797
Target Frame: /base_footprint
Value: XYOrbit (rviz)
Yaw: 5.65995
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1337
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 459
Y: -243

[davetcoleman]

The first time you launch Rviz it will change the settings to your specific robot. If you then save the rviz config before closing it, you will have your new robot settings for Rviz. Its not clear in this issue how you would like things fixed.