ROS1 Update

.github/workflows/clang_format.yml

@@ -5,10 +5,6 @@ on:
     branches:
       - master
   pull_request:
-    paths:
-      - 'snp**'
-      - '.github/workflows/clang_format.yml'
-      - '**clang-format'
   schedule:
     - cron: '0 5 * * *'
 

.github/workflows/cmake_format.yml

@@ -5,10 +5,6 @@ on:
     branches:
       - master
   pull_request:
-    paths:
-      - 'snp**'
-      - '.github/workflows/cmake_format.yml'
-      - '**cmake-format'
   schedule:
     - cron: '0 5 * * *'
 

CMakeLists.txt

@@ -53,5 +53,5 @@ install(
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(FILES plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

README.md

@@ -0,0 +1,24 @@
+# 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
+```

launch/robot_model_preview_pipeline.launch.xml

@@ -0,0 +1,18 @@
+<?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"/>
+
+  <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>
+
+  <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>
+
+  <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"/>
+
+</launch>

package.xml

@@ -15,6 +15,9 @@
   <depend>trajectory_msgs</depend>
   <depend>libqt5-widgets</depend>
   <depend>qtbase5-dev</depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
 
   <export>
     <rviz plugin="${prefix}/plugin_description.xml"/>