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rviz and c++

asked 2012-04-22 14:13:03 -0500

manang gravatar image

updated 2014-01-28 17:12:03 -0500

ngrennan gravatar image

Hi, I'm Angelo and I'm beginner. I want to know if it's possible to command a robot with c++ and rviz. That's, if I can calculate the value of non fixed joint and send the value to rviz and so I can see the effect. If yes, could you send me an example? Thank you very much Angelo

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answered 2012-04-22 21:18:38 -0500

Lorenz gravatar image

updated 2012-04-23 01:55:43 -0500

Rviz doesn't visualize robots based on joint values. Instead, you have to create a urdf description of your robot and run a robot_state_publisher. The robot_state_publisher subscribes to the joint_state topic which is normally published by your robot driver and publishes the link poses of your robot. Rviz will then be able to visualize your robot. Have a look here and here for tutorials on URDF.

EDIT: You need to send commands to your robot driver. On the PR2, one specific robot driver node runs a lot of controllers that provide different action lib actions. When they receive an action goal, they calculate the corresponding motor commands and move the robot. Moving the robot changes the encoder values and the published joint states change, the robot moves in RViz. We don't know about your robot platform and how your hardware accepts commands, so we cannot give a more specific answer.

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answered 2012-04-23 00:32:12 -0500

manang gravatar image

Ok, I'm a urdf of my robot and now i can visualize my robot in rviz. With giu:=True is possible to move my joint, but I want to move my joint with my program in c++.

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Lorenz gravatar imageLorenz ( 2012-04-23 01:51:55 -0500 )edit

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Asked: 2012-04-22 14:13:03 -0500

Seen: 513 times

Last updated: Apr 23 '12