mass property visualization

[briansoe66]

Add mass properties to robot model display, robot, and robot link.
Visual representation is based on gazebo,
i.e. visualize mass as equivalent lead ball and inertia as box, located at center of mass.

Changes are based on: vstuhumanoid/rviz@f215b91

[briansoe66]

This pull request will resolve ros-visualization/rviz#1204

[briansoe66]

Could someone independently verify that the mass and inertia visualization shapes match gazebo, for the UR model? Note: The color will not match.

[ahcorde]

I already tested it with some models and it looks good!

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

Windows is failing:

15:39:05 C:\ci\ws\src\ros2\rviz\rviz_default_plugins\src\rviz_default_plugins\robot\robot_link.cpp(833,65): error C2065: 'M_PI': undeclared identifier [C:\ci\ws\build\rviz_default_plugins\rviz_default_plugins.vcxproj]

[ahcorde]

Hi @briansoe66 ,

do you think you will have some time to fix this ?

[briansoe66]

Hi @briansoe66 ,

do you think you will have some time to fix this ?

@ahcorde , I have committed a fix for the undefined M_PI on windows, but I have no windows computer to verify it worked.

[ahcorde]

thnk you @briansoe66, let's try again

• Windows

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

LGTM with green CI

[aemarkov]

@briansoe66, appreciate your work, thanks!

[jose-adrian]

Can someone please explain how to get this to work?

[ahcorde]

@jose-adrian, if you want to visualize the mass, you should include the plugin RobotModeland configure it, Then you should click in mass Properties -> Mass. Like in this small gif

Anyhow please ask this kind of questions in https://answers.ros.org/questions/

[jose-adrian]

Thanks for the answer! The problem is that I can't get those Mass Properties check boxes to appear in the RobotModel. Sorry to ask here but no luck in the ros forums, anyhow, I'll try again. Thanks!