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

[Michael Rohn]

What about the mars_graphics lib?

It is a library based on OSG and used in MARS.


Am 07.05.2013 16:41, schrieb Sylvain Joyeux:
> On 05/07/2013 04:38 PM, 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
> KDL is available in Rock. Last time I looked, the URDF tooling was
> reasonably ROS independent, so could be integrated in Rock as well.
>
>>> * 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.
> I guess we would have to look into how to handle that within Rock. The
> ressource retriever is problematic as it depends on packages that
> conflict with dependencies in GDAL, which we use in envire (a pretty
> core package)
>
>>> Forward kinematics are calculated within the visualization. Practically
>>> that requires joint data (current positions) as input for the plug in.
> I guess that can be arranged ;-)
>
>>> 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).
> We definitely could feed it transformer data as well.
>
> In general, it sounds very useful !

-- 

  Michael Rohn (Dipl.-Inf.)
  E-Mobilität & Simulation

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