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

[Matthias Goldhoorn]

Collada was several times an good candidate not only for the 
visualization also for mars (also the physics/sim part).
Since noone has time to to this this get forgotten.
If you have some free recources please grap the discussion on

http://rock.opendfki.de/wiki/WikiStart/OngoingWork/RobotDescriptionFile

and reply to the ML. Malte L. (ex. R.) was invited to because there was 
some open questions for/with mars but i not remember them yet.

If there _are_ free recources we should definelty define an wider used 
and accepted format. There was several limitations on URDF (see  link 
above).

Matthias

On 07.05.2013 16:38, Sylvain Joyeux wrote:
> -------- 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
>


-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4193
  Zentrale: +49 421 178 45-6550
  Fax:      +49 421 178 45-4150
  E-Mail:   matthias.goldhoorn at uni-bremen.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik