mc_rtc_ros

This ROS stack aims at providing various tools to use along mc_rtc. The GUI (mc_rtc_rviz_panel) can be built without ROS.

Current list of tools

• mc_convex_visualization allows to publish the convex hulls of a robot as a polygon message that can be visualized in RViz
• mc_log_visualization is a tool to visualize logs generated by an mc_rtc controller
• mc_rtc_rviz_panel is an mc_rtc's GUI client that can be used inside RViZ
• mc_rtc_ticker provides an RViz interface to mc_rtc
• mc_surfaces_visualization allows to visualize a robot's surfaces within RViZ

Dependencies

This stack requires:

• mc_rtc: if building with ROS then the ROS plugin is required
• mc_rtc_msgs: required when building with ROS
• Qt: if building with ROS and RViz then the version that RViZ was built with; otherwise Qt4 and Qt5 are supported
• QWT version 6.1 or later for the corresponding Qt version

Installing

Ubuntu LTS (18.04, 20.04. 22.04)

You must first setup our package mirror:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can also choose the head mirror which will have the latest version of this package:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' \
  | sudo -E bash

You can then install the package:

sudo apt install ros-${ROS_DISTRO}-mc-rtc-tools