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https://github.com/ipa320/rqt_frame_editor_plugin
An rqt plugin for creating, manipulating and managing tf frames.
https://github.com/ipa320/rqt_frame_editor_plugin
Last synced: 3 months ago
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An rqt plugin for creating, manipulating and managing tf frames.
- Host: GitHub
- URL: https://github.com/ipa320/rqt_frame_editor_plugin
- Owner: ipa320
- License: mit
- Created: 2016-11-15T10:43:51.000Z (almost 8 years ago)
- Default Branch: noetic-devel
- Last Pushed: 2023-12-04T09:50:01.000Z (12 months ago)
- Last Synced: 2024-07-16T13:07:48.487Z (4 months ago)
- Language: Python
- Size: 610 KB
- Stars: 21
- Watchers: 7
- Forks: 11
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
frame editor rqt-plugin
=========================================
* This repository contains the **frame editor rqt-plugin.**
* Frame-editor helps you **creating and arranging tf-frames.**
* You can arrange your frames by **copying full poses** or selected positions or orientations **from other existing tf-frames**. Of course you can **manually type-in** your wanted values or even **use an interactive marker within rviz** to arrange your frame.
* Additionally you may **attach a mesh to your frame**. The mesh is also visible within rviz (by published marker topic). The frame-editor provides some basic shapes or you may use your own stl file.
* **Save your configuration and load it** again.
* Most features are **also available via ros services**, if you want to use the functions but not the interface.
### Installation:
#### Clone this repository into your catkin workspace.
```
git clone https://github.com/ipa320/rqt_frame_editor_plugin.git
```
#### Update your catkin workspace, e.g.
```
catkin_make
```
#### Refresh rqt
```
rqt --force-discover
```
### Usage:
#### You may just start rqt and select the frame-editor plugin.
```
rqt
```
#### To be able to use the interactive marker to move frames around you have to add the InteractiveMarkers-plugin to rviz and select the topic '/frame_editor_interactive/update'
* The frame to be manipulated must be selected in the frame-editor.
#### To see the configured shapes you have to add the Marker plugin in rviz and select the topic '/frame_editor_marker'
* Shapes are not published too often and it may take some seconds for your shape to appear. However, appeared once it will be attached to its tf-frame and not lag behind if the frame moves.
#### You can also run it standalone, look into the given launch file.
```
roslaunch frame_editor frame_editor.launch
```
#### A headless version is available through this launch file:
```
roslaunch frame_editor frame_editor_headless.launch
```
### Known issues:
#### Starting the plugin twice
When starting the rqt plugin twice, you will receive a long error message with these last lines:
```
[...]
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/service.py", line 116, in register
raise ServiceException(err)
ServiceException: service [/align_frame] already registered
```
* Note that rqt automatically starts in the last configuration, so **the plugin may already be running, possibly minimized**. You can check the "Running" entry in the header menu to see whether the plugin is already active.
* Hidden plugins can be recovered by rightclicking in the empty space and selecting the plugin (so far only called "Form")
* Closing and starting the plugin doesn't seem to work, so:
* The best way is to restart rqt.
* If the plugin is not found in rqt, try 'rqt --force-discover' to make rqt search for new plugins
* You can reset your rqt configuration, try 'rqt --clear-config' to make rqt reset saved configurations
#### Cannot use the interactive marker when its behind a semitransparent mesh.
Rviz is not giving your mouse event to the interactive marker. Disable the marker plugin and the you can touch the interactive marker.
### Acknowledgements:
This project is a result of the LIAA project.
http://www.project-leanautomation.eu/
LIAA received funding from the European Union’s Seventh Framework Programme for research, technological development and demonstration under grant agreement no. 608604.
Project runtime: 02.09.2013 – 31.08.2017.