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

[Jakob Schwendner]

Yep, we had a discussion on this a while back. I needed exactly what you are
proposing now:
A multibody robot model with forward kinematics calculation based on joint
angles.

At that time we agreed with the Mars people that this would be a good interface
for starting to use the same visualisation between mars and vizkit.
I did a hack back then for mars models, which is in simulation/mars_viz.

In any case, I think we discussed several ways of how we could introduce this in
rock:
(a) Vizkit plugin, that takes URDF/Collada/whatever file as a parameter, and
joint angles as input type. Least amount of effort, but only useful for
visualization.
(b) A more tightly integrated approach, that takes the transformer into account.
I think our general way of configuring and setting up robots would benefit from
this, too.

this might benefit from further discussion and could be a good opportunity to
get different parts working together.

cheers,

Jakob

On May 7, 2013 at 4:44 PM Matthias Goldhoorn <matthias.goldhoorn at dfki.de> wrote:
> 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
> >
>
>

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