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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: about 2 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 (10 months ago)
Last Synced: 2024-07-16T13:07:48.487Z (2 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.

![The rqt plugin frame_editor](/frame_editor/etc/img/rqt_frame_editor.png "The rqt plugin frame_editor")

![The rviz view](/frame_editor/etc/img/rviz.png "Using an interactive marker to manipulated a tf-frame")

### 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
```

![The rqt plugin frame_editor](/frame_editor/etc/img/rqt_frame_editor_exp.png "The rqt plugin frame_editor with remarks")

#### 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](http://www.project-leanautomation.eu/fileadmin/img/LIAALogo/Logo_LIAA.png "LIAA")

![EC](http://www.project-leanautomation.eu/typo3temp/pics/b3ba71db31.jpg "EC")

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.