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https://github.com/nalchevanidze/vdm
VDM (visualization-of-dynamical-model): RoboCup project visualizing acting forces on arbitrary urdf-robot-models in rviz.
https://github.com/nalchevanidze/vdm
Last synced: 14 days ago
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VDM (visualization-of-dynamical-model): RoboCup project visualizing acting forces on arbitrary urdf-robot-models in rviz.
- Host: GitHub
- URL: https://github.com/nalchevanidze/vdm
- Owner: nalchevanidze
- Created: 2019-10-23T12:29:14.000Z (about 5 years ago)
- Default Branch: master
- Last Pushed: 2020-04-18T16:34:17.000Z (over 4 years ago)
- Last Synced: 2024-11-07T10:52:44.835Z (2 months ago)
- Language: C++
- Homepage:
- Size: 55.7 KB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# VDM (visualization-of-dynamical-model)
RoboCup project visualizing acting forces on arbitrary urdf-robot-models in
rviz.
## Requirments
- rviz
- ros
## Getting Started
### Setup
#### Workspace
```zsh
mkdir vdm
cd vdm
mkdir src
cd src
git clone [email protected]:nalchevanidze/vdm.git
git clone [email protected]:bit-bots/bitbots_meta.git
cd ../
catkin init
```
#### .bashrc
In order to develop for ros using our vdm-package, your environment needs to
be set up accordingly.
Please find below an **example** configuration:
```bash
# Configure VDM using environment variables:
# ROS-version codename (kinetic, melodic, etc.)
export VDM_ROS_VERSION="melodic"
# catkin-workspace path
export VDM_WS_PATH="$HOME/catkin_ws"
# path of the cloned bitbots_meta repository
export VDM_BITBOTS_META_PATH="$VDM_WS_PATH/src/bitbots_meta"
# Setup the ros-specific environment:
source /opt/ros/kinetic/setup.bash
source $VDM_WS_PATH/devel/setup.bash
```
## Launch
Change into your catkin-workspace and execute your desired launch-file:
```bash
# general:
roslaunch vdm [lauchfile-name]
# jacobian-testing:
rosrun vdm jacobian
```
## Known Problems
It may be possible that rviz does not properly visualize the geometry of your
robot model (it might for example be invisible).
According to [the ROS forum](https://answers.ros.org/question/271357/rviz-doesnt-show-any-shape/) it can be fixed by adding the following line to your `.bashrc`:
```bash
export LC_NUMERIC="en_US.UTF-8"
```
## About
### Team
VDM is written and maintained by:
- [nalchevanidze](https://github.com/nalchevanidze)
- [haukesomm](https://github.com/haukesomm)