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OpenGL and the PR2

asked 2012-04-01 16:13:21 -0500

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Can anyone suggest how to create an OpenGL function (no OGRE dependencies) that renders the PR2? That is, I hope to construct a function that looks like:

void openGLRenderPR2 (JointState);

I imagine this would be of use to many people who are using visualization tools outside of rviz (and without OGRE dependencies).

Thanks!

Mike

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answered 2012-04-05 23:54:14 -0500

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It is actually not that easy. You first need to read in the robot description from urdf, there is a library for doing so. Then you to load all meshes. rviz used to use assimp for doing that. Finally, you need a tf listener to get the current pose of all links specified in the urdf.

I implemented the functionality for rendering the PR2 in common lisp, stack cram_physics and I think Bosch's pr2_camera_self_filter contains some code for rendering the PR2 in C++.

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Asked: 2012-04-01 16:13:21 -0500

Seen: 263 times

Last updated: Apr 05 '12