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yeshasvitirupachuritraversaro
yeshasvitirupachuri
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traversaro
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Add ros rviz files for icub (#23)
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‎CMakeLists.txt

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# Copy the iCub folder in the build tree
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file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/iCub DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
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# Copy the ros folder
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file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ros DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/iCub)
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# Add the model.config just for a limited number of models that are known
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# to work in Gazebo, unless the ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS option
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# is enabled

‎ros/README.md

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This directory contains the files related to [Rviz](http://wiki.ros.org/rviz)
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visualization of icub. The contents of this directory are installed inside `iCub`
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ros package. The location of `iCub` ros pacakge is discovered by running `roscd iCub`.
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The `launch` directory contains `roslaunch` file `iCubRviz.launch`. The robot model
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that will be used for rviz visualization depends `YARP_ROBOT_NAME` set in `.bashrc`.
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The default rviz configuration file is `iCubRviz.rviz` located inside `rviz` directory.
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The steps to run rviz visualization correctly are:
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- Ensure that the robot is started correctly with ros configuration files for motor control boards.
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On the real robot, the [icub_ros_wrapper.xml](https://github.com/robotology/robots-configuration/blob/devel/iCubGenova04/wrappers/motorControl/icub_ros_wrapper.xml) configuration file must be included inside the startup
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`xml` [configuration file](https://github.com/robotology/robots-configuration/blob/devel/iCubGenova04/icub_wbd.xml#L107).
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- On starting the robot, one should see `/<prefix>/joint_states` ros topic by running `rostopic list`.
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Also, ensure that the `/<prefix>/joint_states` streams all the robot joint angles by running
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`rostopic echo /<prefix>/joint_states`. The name of topic is set through [ROS_topicName](https://github.com/robotology/robots-configuration/blob/devel/iCubGenova04/wrappers/motorControl/icub_ros_wrapper.xml#L38)
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parameter.
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- Start `transform server` by running `yarprobotinterface --config transform-server.xml`.
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The transform server is a central location for transforms `tfs` and it streams the transforms
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to `/tf` ros topic.
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- Launch [yarprobotstatepublisher](https://github.com/robotology/idyntree/tree/master/src/tools/yarprobotstatepublisher) that takes a tf-prefix, model, base frame name, joint states topic name as input and
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gives all the model transforms to the transform server. An example of running `yarprobotstatepublisher` is
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```
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yarprobotstatepublisher --name-prefix icub --tf-prefix /icub/ --model model.urdf --base-frame root_link --jointstates-topic "/icub04/joint_states"
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```
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- Ensure that the transforms are available correctly by running `rostopic echo /tf`.
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The transforms of the links are streamed with the prefix give to `--tf-prefix` of `yarprobotstatepublisher`.
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- Rviz visualization of icub is launched by running
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```
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roslaunch iCub iCubRviz.launch
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```
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The following two parameters are important to ensure correct visualization:
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- Under `Global Options`, `Fixed Frame` field is the frame name with respect to
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which all the other frames transforms are give. The default value set inside the `iCubRviz.rviz` configuration value is `icub/root_link`.
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![Selection_001](https://user-images.githubusercontent.com/6505998/62306298-e064e400-b481-11e9-9b5e-c665b5aaa5ff.png)
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- The next parameter is under `Robot Model`, `TF Prefix`. The default value set inside the `iCubRviz.rviz` configuration value is `icub`.
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The value of the parameter should match the `--tf-prefix` of `yarprobotstatepublisher` for rviz to get the correct transforms to visualize the model.
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![Screenshot from 2019-08-01 11-37-26](https://user-images.githubusercontent.com/6505998/62283354-ab409d80-b451-11e9-9811-bd9158548e3e.png)
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The contents of this directory are tested on:
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##### Linux
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```
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Ubuntu 18.04 LTS
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Rosdistro: Melodic
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Rosversion: 1.14.3
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```
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##### MacOS
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```
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MacOs High Sierra 10.13.6
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Rosdistro: Lunar
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Rosversion: 1.13.7
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```

‎ros/launch/iCubRviz.launch

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<launch>
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<arg name="Robot"/>
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<arg name="gui" default="False"/>
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<arg name="vel" default="True"/>
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<arg name="eff" default="True"/>
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<arg name="YARP_ROBOT_NAME" default="$(env YARP_ROBOT_NAME)"/>
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<arg name="robotModel" default="$(find iCub)/robots/$(arg YARP_ROBOT_NAME)/model.urdf "/>
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<arg name="rvizconfig" default="$(find iCub)/ros/rviz/iCubRviz.rviz"/>
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<param name="robot_description" command="$(find xacro)/xacro $(arg robotModel)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>

‎ros/rviz/iCubRviz.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 84
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Name: Displays
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Property Tree Widget:
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Expanded: ~
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Splitter Ratio: 0.5
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Tree Height: 1043
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 173; 173; 177
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Billboards
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 1000
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: icub
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Update Interval: 0
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Value: true
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Visual Enabled: true
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Enabled: true
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Global Options:
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Background Color: 255; 255; 255
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Default Light: true
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Fixed Frame: icub/root_link
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Frame Rate: 60
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 7.744000434875488
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.16518345475196838
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Y: 0.3169254660606384
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Z: 0.5606259107589722
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.3903980255126953
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.770397961139679
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Saved: ~
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Window Geometry:
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"&Displays":
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collapsed: false
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"&Time":
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collapsed: false
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"&Views":
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collapsed: false
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Height: 768
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000004b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007601000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004b4000000f701000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004b4000000d001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000004cfc0100000002fb0000000800540069006d0065010000000000000a00000002ad01000003fb0000000800540069006d0065010000000000000450000000000000000000000784000004b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Width: 1024
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X: 2880
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Y: 0

‎ros/transform-server.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<robot name="Transform-Server" build=0 portprefix="">
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<device type="transformServer" name="TransformServer">
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<param name="transforms_lifetime">0.2</param>
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<group name="ROS">
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<param name="enable_ros_publisher">true</param>
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<param name="enable_ros_subscriber">false</param>
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</group>
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</device>
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</robot>

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