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Trajectory Preview

ROS-enabled Qt widget and Rviz panel for interactively previewing robot trajectories

Trajectory preview panel

Usage

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 prefix preview
  • The Rviz RobotModel display animates the robot model using the preview-prefixed TF tree

This pipeline is provided in the robot_model_preview_pipeline.launch.xml file

Build

cd <ws>
rosdep install --from-paths src -iry
colcon build