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README.md

robot-viewer

A vizualization tool for robots using OpenGL and Python.

Main features:

  • 3d vizualization of multiple robots and objects.
  • simulation view of on-robot cameras.
  • screen/screen capture builtin.
  • server-client design.

Installation

Binary package

Ubuntu:

apt-add-repository ppa:dang-duong/ppa
apt-get update
apt-get install robot-viewer

Fedora:

Create a robotviewer.repo file inside /etc/yum.repo.d with the following lines:

[robotviewer]
name=Repository for robot-viewer.
baseurl=http://homepages.laas.fr/nddang/repos/fedora14
enabled=1

Change the line "fedora14" to the appropriate version of your system. Install robot-viewer by the usual way:

yum install robot-viewer

From source

Linux

Make sure you have the following dependency:

Install this package as an usual python package:

python setup.py install --prefix $YOUR_PREFIX

Mac OSX

  • An easy way to install dependencies for robot-viewer is using Macports:

    port install py26-opengl py26-Numeric py26-omniORBpy

  • Make sure you have the correct PATH, PYTHONPATH, etc. in ~/.profile.

  • Install simpleparse and robot-viewer the same way as in Linux.

Usage

  • Edit $HOME/.robotviewer/config to add your robot. robot-viewer supports vrml and kxml formats for robot representation.
  • Start the server: robotviewer -s SERVER_TYPE

    where SERVER_TYPE is either "CORBA" or "XML-RPC". If no option is given, CORBA will be used.

  • In a python prompt, start the client: import robotviewer clt = robotviewer.client(server=SERVER_TYPE)

    where SERVER_TYPE corresponds to the kind of server you started in previous step. (i.e. "CORBA" or "XML-RPC")

    The following functions are available for the client:

    • createElement(type, name, description)
    • destroyElement(element_name)
    • enableElement(element_name)
    • disableElement(element_name)
    • updateElementConfig(element_name, config)
    • getElementConfig(element_name)
    • listElement()