[Rock-dev] Fwd: Re: Robot visualization in Vizkit3D

[Sylvain Joyeux]

-------- Original Message --------
Subject: Re: Robot visualization in Vizkit3D
Date: Tue, 07 May 2013 15:47:33 +0200
From: Sylvain Joyeux <sylvain.joyeux at dfki.de>
Organization: DFKI RIC
To: Malte Wirkus <malte.wirkus at dfki.de>

On 05/07/2013 09:56 AM, Malte Wirkus wrote:
> for a software project I am working on, I am developing a visualization
> of multi-body robots based on Open Scene Graph (OSG).
> Since I did not find something similiar in ROCK's Vizkit3D, I wonder if
> you might be interested if I make this available as a Plug-In for Vizkit?
>
> Here are some maybe relevant things about it:
>
> * As robot description format it used URDF
>    (http://www.ros.org/wiki/urdf)
> * For kinematic calculation, KDL is used
>    (http://www.orocos.org/wiki/orocos/kdl-wiki)
> * Therefor there are dependecies on OSG, URDF, a URDF parser library, a
>    URDF to KDL parser library
> * All these libraries but OSG are available in ROS
> * It makes use of the ressource_retriever from ROS
>    (http://ros.org/wiki/resource_retriever), but can also be used
>    without. Absolute paths to the 3D meshes have to be set in the URDF
>    file then.
>
> Forward kinematics are calculated within the visualization. Practically
> that requires joint data (current positions) as input for the plug in.
> Having it as part of ROCK one could also say that forward kinematics are
> calculated elsewhere, and the input for the plugin would be 3D poses for
> each link of the robot. This is the way they do it in ROS (with RVIZ,
> http://www.ros.org/wiki/rviz).
>
> Regards,
>
> Malte


-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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