Introducing RvizDisplay #1216
Merged
Introducing RvizDisplay #1216
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
May 31, 2024
Changed in v2.1.0: * Updated black + isort + flake8 to ruff in loco-3d/crocoddyl#1256 * Exported version for Python in loco-3d/crocoddyl#1254 * Added pinocchio 3 preliminary support in loco-3d/crocoddyl#1253 * Updated CMake packaging in loco-3d/crocoddyl#1249 * Fixed ruff reported error in loco-3d/crocoddyl#1248 * Fixed yapf reported errors in loco-3d/crocoddyl#1238 * Tested Python stubs in Conda CI in loco-3d/crocoddyl#1228 * Fixed Rviz display in loco-3d/crocoddyl#1227 * Improved CI, updated cmake and fixed launch file in loco-3d/crocoddyl#1220 * Introduced a Rviz display in loco-3d/crocoddyl#1216 * Enabled display of thrust and simplied displayers code in loco-3d/crocoddyl#1215 * Introduced floating base thruster actuation model in loco-3d/crocoddyl#1213 * Fixed quadruped and biped examples in loco-3d/crocoddyl#1208 * Fixed terminal computation in Python models in loco-3d/crocoddyl#1204 * Fixed handling of unbounded values for `ActivationBounds` in loco-3d/crocoddyl#1191
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Jun 20, 2024
Changed in v2.1.0: * Updated black + isort + flake8 to ruff in loco-3d/crocoddyl#1256 * Exported version for Python in loco-3d/crocoddyl#1254 * Added pinocchio 3 preliminary support in loco-3d/crocoddyl#1253 * Updated CMake packaging in loco-3d/crocoddyl#1249 * Fixed ruff reported error in loco-3d/crocoddyl#1248 * Fixed yapf reported errors in loco-3d/crocoddyl#1238 * Tested Python stubs in Conda CI in loco-3d/crocoddyl#1228 * Fixed Rviz display in loco-3d/crocoddyl#1227 * Improved CI, updated cmake and fixed launch file in loco-3d/crocoddyl#1220 * Introduced a Rviz display in loco-3d/crocoddyl#1216 * Enabled display of thrust and simplied displayers code in loco-3d/crocoddyl#1215 * Introduced floating base thruster actuation model in loco-3d/crocoddyl#1213 * Fixed quadruped and biped examples in loco-3d/crocoddyl#1208 * Fixed terminal computation in Python models in loco-3d/crocoddyl#1204 * Fixed handling of unbounded values for `ActivationBounds` in loco-3d/crocoddyl#1191
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Jul 1, 2024
Changed in v2.1.0: * Updated black + isort + flake8 to ruff in loco-3d/crocoddyl#1256 * Exported version for Python in loco-3d/crocoddyl#1254 * Added pinocchio 3 preliminary support in loco-3d/crocoddyl#1253 * Updated CMake packaging in loco-3d/crocoddyl#1249 * Fixed ruff reported error in loco-3d/crocoddyl#1248 * Fixed yapf reported errors in loco-3d/crocoddyl#1238 * Tested Python stubs in Conda CI in loco-3d/crocoddyl#1228 * Fixed Rviz display in loco-3d/crocoddyl#1227 * Improved CI, updated cmake and fixed launch file in loco-3d/crocoddyl#1220 * Introduced a Rviz display in loco-3d/crocoddyl#1216 * Enabled display of thrust and simplied displayers code in loco-3d/crocoddyl#1215 * Introduced floating base thruster actuation model in loco-3d/crocoddyl#1213 * Fixed quadruped and biped examples in loco-3d/crocoddyl#1208 * Fixed terminal computation in Python models in loco-3d/crocoddyl#1204 * Fixed handling of unbounded values for `ActivationBounds` in loco-3d/crocoddyl#1191
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR introduces a third option for displaying Crocoddyl results in Rviz, i.e.,
RvizDisplay.RvizDisplayuses our whole-body-state-rviz plugin to nicely display:This Rviz plugin uses standardized ROS messages that we use in our MPC work. Those ROS messages are generic enough to be used in other robotics platforms. Indeed, this Rviz plugin can be used in our quadrotor and manipulator examples.
Additionally, we have rendered the ROS communication as efficient as possible. This is done by introducing crocoddyl_msgs. Crocoddyl messages include C++ implementation of ROS publishers and subscribers. These C++ implementations are bound in Python for convenience. We have headly tested in our MPC works as well.
Finally, these packages and our
RvizDisplaysupport ROS 1 and ROS 2.Below, I share a short clip demonstrating this display. You just need to do
crocoddyl.RvizDisplay(...).Screen.Recording.2024-01-29.at.15.02.15.mov