[Rock-dev] [Ric-mars] Fwd: Re: Robot visualization in Vizkit3D
Alexander Duda
Alexander.Duda at dfki.de
Wed May 8 11:16:54 CEST 2013
On 05/08/2013 10:24 AM, Malte Wirkus wrote:
> Thank you all for your responses.
>
> Back to my initial question: If you are interested in what I provided.
> What I read from the responses, the majority says 'no', because there
> are better file formats available or other libraries that might be used
> for rendering.
I would not put it that way. There might be better file formats out
there but if you are using already another one than this is just fine. I
would really appreciate it if you go the extra mile and would make your
work available as Plug-In. If you need any help please post to the
mailing list.
Alex
PS: if you still on a stage where you can choose between different third
party libraries when we can have a discussion which one might be the
best in the context of rock.
>
> Jakob's point is interesting:
>
> > I did a hack back then for mars models, which is in simulation/mars_viz.
>
> So, something akin is already done. Then of cause it's not necessary to
> use my software for ROCK. One could rather think about integrating URDF
> support into the existing software.
> Unfortunately I can't find it. That is maybe because I don't really know
> where to look for it (I looked at
> http://www.rock-robotics.org/master/pkg/index.html and used the search
> functionality of the ROCK website).
> As a ROCK newbie, I think it should be easier to find and use, even if
> it's not perfectly aligned with the theories on how such a software
> would look like in the optimal case. The reason for this is that I think
> a robot visualization is, a quite essential _tool_ for people working
> with robots.. as with most tools, it's better to have one than not
> having one.
>
> Best,
>
> Malte
>
>
>
> On 05/07/2013 06:23 PM, Jakob Schwendner wrote:
>> Yep, we had a discussion on this a while back. I needed exactly what you
>> are proposing now:
>> A multibody robot model with forward kinematics calculation based on
>> joint angles.
>> At that time we agreed with the Mars people that this would be a good
>> interface for starting to use the same visualisation between mars and
>> vizkit.
>> I did a hack back then for mars models, which is in simulation/mars_viz.
>> In any case, I think we discussed several ways of how we could introduce
>> this in rock:
>> (a) Vizkit plugin, that takes URDF/Collada/whatever file as a parameter,
>> and joint angles as input type. Least amount of effort, but only useful
>> for visualization.
>> (b) A more tightly integrated approach, that takes the transformer into
>> account. I think our general way of configuring and setting up robots
>> would benefit from this, too.
>> this might benefit from further discussion and could be a good
>> opportunity to get different parts working together.
>> cheers,
>> Jakob
>>
>> On May 7, 2013 at 4:44 PM Matthias Goldhoorn
>> <matthias.goldhoorn at dfki.de> wrote:
>> > Collada was several times an good candidate not only for the
>> > visualization also for mars (also the physics/sim part).
>> > Since noone has time to to this this get forgotten.
>> > If you have some free recources please grap the discussion on
>> >
>> > http://rock.opendfki.de/wiki/WikiStart/OngoingWork/RobotDescriptionFile
>> >
>> > and reply to the ML. Malte L. (ex. R.) was invited to because there was
>> > some open questions for/with mars but i not remember them yet.
>> >
>> > If there _are_ free recources we should definelty define an wider used
>> > and accepted format. There was several limitations on URDF (see link
>> > above).
>> >
>> > Matthias
>> >
>> > On 07.05.2013 16:38, Sylvain Joyeux wrote:
>> > > -------- Original Message --------
>> > > Subject: Re: Robot visualization in Vizkit3D
>> > > Date: Tue, 07 May 2013 15:47:33 +0200
>> > > From: Sylvain Joyeux<sylvain.joyeux at dfki.de>
>> > > Organization: DFKI RIC
>> > > To: Malte Wirkus<malte.wirkus at dfki.de>
>> > >
>> > > On 05/07/2013 09:56 AM, Malte Wirkus wrote:
>> > >> for a software project I am working on, I am developing a
>> visualization
>> > >> of multi-body robots based on Open Scene Graph (OSG).
>> > >> Since I did not find something similiar in ROCK's Vizkit3D, I
>> wonder if
>> > >> you might be interested if I make this available as a Plug-In for
>> Vizkit?
>> > >>
>> > >> Here are some maybe relevant things about it:
>> > >>
>> > >> * As robot description format it used URDF
>> > >> (http://www.ros.org/wiki/urdf)
>> > >> * For kinematic calculation, KDL is used
>> > >> (http://www.orocos.org/wiki/orocos/kdl-wiki)
>> > >> * Therefor there are dependecies on OSG, URDF, a URDF parser
>> library, a
>> > >> URDF to KDL parser library
>> > >> * All these libraries but OSG are available in ROS
>> > >> * It makes use of the ressource_retriever from ROS
>> > >> (http://ros.org/wiki/resource_retriever), but can also be used
>> > >> without. Absolute paths to the 3D meshes have to be set in the URDF
>> > >> file then.
>> > >>
>> > >> Forward kinematics are calculated within the visualization.
>> Practically
>> > >> that requires joint data (current positions) as input for the plug
>> in.
>> > >> Having it as part of ROCK one could also say that forward
>> kinematics are
>> > >> calculated elsewhere, and the input for the plugin would be 3D
>> poses for
>> > >> each link of the robot. This is the way they do it in ROS (with RVIZ,
>> > >> http://www.ros.org/wiki/rviz).
>> > >>
>> > >> Regards,
>> > >>
>> > >> Malte
>> > >
>> >
>> >
>>
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--
Dipl.-Ing. Alexander Duda
Unterwasserrobotik
DFKI Bremen
Robotics Innovation Center
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E-Mail: alexander.duda at dfki.de
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