ROS-enabled Qt widget and Rviz panel for interactively previewing robot trajectories
The widget subscribes to a trajectory_msgs/JointTrajectory
definition of a robot trajectory and
publishes a sensor_msgs/JointState
message corresponding to the state in the trajectory at which the slider is set.
An Rviz RobotModel
display can then be used to visualize the preview using the following pipeline:
- The trajectory preview widget publishes joint states (
/trajectory/joint_states
) - A
JointStatePublisher
node integrates the trajectory preview widget joint states topic (/trajectory/joint_states
) into a constantly published joint states topic (/preview/joint_states
) - A
RobotStatePublisher
node subscribes to the high-level preview joint states topic (/preview/joint_states
) and creates a TF tree with the prefixpreview
- The Rviz
RobotModel
display animates the robot model using thepreview
-prefixed TF tree
This pipeline is provided in the robot_model_preview_pipeline.launch.xml
file
cd <ws>
rosdep install --from-paths src -iry
colcon build