{"id":23441960,"url":"https://github.com/mogi-ros/mogi_trajectory_server","last_synced_at":"2025-10-10T14:04:38.372Z","repository":{"id":260157427,"uuid":"880483061","full_name":"MOGI-ROS/mogi_trajectory_server","owner":"MOGI-ROS","description":"Trajectory visualization for ROS2","archived":false,"fork":false,"pushed_at":"2025-05-29T10:35:42.000Z","size":1357,"stargazers_count":7,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-08-19T01:23:43.161Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MOGI-ROS.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2024-10-29T20:04:09.000Z","updated_at":"2025-07-21T20:35:29.000Z","dependencies_parsed_at":"2024-11-24T10:25:27.102Z","dependency_job_id":"09c2cd1d-93b6-4286-a768-00f5a8d7d8e0","html_url":"https://github.com/MOGI-ROS/mogi_trajectory_server","commit_stats":null,"previous_names":["mogi-ros/mogi_trajectory_server"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/MOGI-ROS/mogi_trajectory_server","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MOGI-ROS%2Fmogi_trajectory_server","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MOGI-ROS%2Fmogi_trajectory_server/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MOGI-ROS%2Fmogi_trajectory_server/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MOGI-ROS%2Fmogi_trajectory_server/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MOGI-ROS","download_url":"https://codeload.github.com/MOGI-ROS/mogi_trajectory_server/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MOGI-ROS%2Fmogi_trajectory_server/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":279004184,"owners_count":26083688,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-10T02:00:06.843Z","response_time":62,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-12-23T17:19:40.491Z","updated_at":"2025-10-10T14:04:38.345Z","avatar_url":"https://github.com/MOGI-ROS.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"[//]: # (Image References)\n\n[image1]: ./trajectory.png \"trajectory\"\n[image2]: ./trajectory_arm.png \"trajectory\"\n\n# mogi_trajectory_server\nTrajectory visualization for ROS2 with pretty much the same functionality as `hector_trajectory_server` for ROS1.\nThis package provides a node that saves trajectory data using a TransformListener between `reference_frame_id` and `robot_frame_id`, the trajectory is saved internally as a `nav_msgs/Path` and can be obtained through the `trajectory_topic` topic.\nThe `update_rate`, `publish_rate` and `min_distance` - that triggers an update - can be modified by parameters as described below.\n\n![alt text][image1]\n\n## Dependencies:\nThe project depends on Bit-Bots' TF buffer! Clone the following repositories into your workspace:\n```bash\nhttps://github.com/bit-bots/ros2_python_extension\nhttps://github.com/bit-bots/bitbots_tf_buffer\n```\n## Usage:\n\nStarting it as a node:\n```bash\nros2 run mogi_trajectory_server mogi_trajectory_server\n```\n\nor within your launch file:\n\n```python\ntrajectory_node = Node(\n    package='mogi_trajectory_server',\n    executable='mogi_trajectory_server',\n    name='mogi_trajectory_server',\n    parameters=[{'reference_frame_id': 'map',\n                'robot_frame_id': 'base_link',\n                'use_sim_time': True}]\n)\n```\n\n---\n\nThe node can be also used with robotic arms to visualize the trajectory of the end effector, example launch file:\n\n```python\n    trajectory_node = Node(\n        package='mogi_trajectory_server',\n        executable='mogi_trajectory_server',\n        name='mogi_trajectory_server',\n        parameters=[{'reference_frame_id': 'world',\n                     'robot_frame_id': 'end_effector_link',\n                     'update_rate': 5.0,\n                     'publish_rate': 5.0,\n                     'min_distance': 0.02,\n                     'use_sim_time': True\n                     }],\n    )\n```\n\n![alt text][image2]\n\n## Subscribed Topics:\nNo topic subscription is needed because the node uses a TransformListener.\n\n## Published Topics:\n```\ntrajectory (nav_msgs/Path)\n```\n\n## Parameters:\n\n~`trajectory_topic` (string, default: \"trajectory\")  \n*The name of the published trajectory topic*\n\n~`reference_frame_id` (string, default: \"odom\")  \n*The name of the tf target frame, change it to map if your fixed frame is a map. It is also used in the published trajectory message's header*\n\n~`robot_frame_id` (string, default: \"base_link\")  \n*The name of the tf source frame = robot chassis frame*\n\n~`update_rate` (double, default: 3.0)  \n*The update rate in Hz for the trajectory update interanally using tf and TransformListener*\n\n~`publish_rate` (double, default: 2.0)  \n*The publish rate in Hz for the trajectory published on the `trajectory` topic*\n\n~`min_distance` (double, default: 0.1)  \n*The minimum movement of the robot that triggers an update within the node*\n\n~`use_sim_time` (bool, default: False)  \n*Wheter to use simulation time or wall clock*\n\n---\n---\n---\n\n# legacy topic based node: mogi_trajectory_server_topic_based\nPretty much identical functiuonality but uses an odometry topic as input instead of TransformListener. It's not accurate on maps and in general not recommended to use over the `mogi_trajectory_server` but can be still useful in certain use cases.\nThis package provides a node that saves trajectory data based on the `odometry_topic` topic, the trajectory is saved internally as a `nav_msgs/Path` and can be obtained through the `trajectory_topic` topic.\nThe `publish_rate` and `min_distance` - that triggers an update - can be modified by parameters as described below.\n\n## Usage:\n\nStarting it as a node:\n```bash\nros2 run mogi_trajectory_server mogi_trajectory_server\n```\n\nor within your launch file:\n\n```python\ntrajectory_node = Node(\n    package='mogi_trajectory_server',\n    executable='mogi_trajectory_server',\n    name='mogi_trajectory_server',\n    parameters=[{'frame_id': 'odom'},\n                {'odometry_topic': 'odom'}]\n)\n```\n\n## Subscribed Topics:\n```\nodom (nav_msgs/Odometry)\n```\n\n## Published Topics:\n```\ntrajectory (nav_msgs/Path)\n```\n\n## Parameters:\n\n~`odometry_topic` (string, default: \"odom\")  \n*The name of the odometry topic that the node subscribes*\n\n~`trajectory_topic` (string, default: \"trajectory\")  \n*The name of the published trajectory topic*\n\n~`frame_id` (string, default: \"odom\")  \n*The name of the target frame in the published message's header*\n\n~`min_distance` (double, default: 0.1)  \n*The minimum movement of the robot that triggers an update within the node*\n\n~`publish_rate` (double, default: 2.0)  \n*The publish rate in Hz for the trajectory published on the `trajectory` topic.*","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmogi-ros%2Fmogi_trajectory_server","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmogi-ros%2Fmogi_trajectory_server","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmogi-ros%2Fmogi_trajectory_server/lists"}