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marip8 committed Jan 17, 2024
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# Trajectory Preview

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

![Trajectory preview panel](docs/panel.png)

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