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Merge pull request #3 from marip8/update/ros1
ROS1 Update
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# Trajectory Preview | ||
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ROS-enabled Qt widget and Rviz panel for interactively previewing robot trajectories | ||
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![Trajectory preview panel](docs/panel.png) | ||
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## 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. | ||
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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 | ||
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This pipeline is provided in the `robot_model_preview_pipeline.launch.xml` file | ||
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## Build | ||
```commandLine | ||
cd <ws> | ||
rosdep install --from-paths src -iry | ||
colcon build | ||
``` |
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<?xml version="1.0."?> | ||
<launch> | ||
<arg name="root_frame" doc="Root frame of the nominal TF tree, at which to connect the preview TF tree" /> | ||
<arg name="prefix" default="preview"/> | ||
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="$(arg prefix)_joint_state_publisher"> | ||
<remap from="joint_states" to="$(arg prefix)/joint_states"/> | ||
<rosparam param="source_list">[trajectory/joint_states]</rosparam> | ||
</node> | ||
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg prefix)_robot_state_publisher"> | ||
<remap from="joint_states" to="$(arg prefix)/joint_states"/> | ||
<param name="tf_prefix" value="$(arg prefix)"/> | ||
</node> | ||
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<node pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 $(arg root_frame) preview/$(arg root_frame)" name="$(arg prefix)_static_tf2_pub"/> | ||
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</launch> |
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