Package symbol

moveit_visual_tools package from moveit_visual_tools repo

moveit_visual_tools

ROS Distro
humble

Package Summary

Tags No category tags.
Version 4.1.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit_visual_tools.git
VCS Type git
VCS Version ros2
Last Updated 2025-02-01
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Helper functions for displaying and debugging MoveIt data in Rviz via published markers

Additional Links

Maintainers

  • Dave Coleman

Authors

  • Dave Coleman

MoveIt Visual Tools

Helper functions for displaying and debugging MoveIt data in Rviz via published markers, trajectories, and MoveIt collision objects. It is sometimes hard to understand everything that is going on internally with MoveIt, but using these quick convenience functions allows one to easily visualize their code. This package is built in top of rviz_visual_tools and all those features are included via class inheritance.

This package helps you visualize:

  • Basic Rviz geometric shapes
  • MoveIt collision objects
  • MoveIt and ROS trajectories
  • Robot states
  • End effectors
  • Interactive markers to move robot arms using IK from remote applications

This open source project was developed at PickNik Robotics. Need professional ROS development and consulting? Contact us at projects@picknik.ai for a free consultation.

Status:

ROS:

  • Build and Test Formatting Github Actions
  • Build Status ROS Buildfarm - AMD64 Focal Source Build - Ubuntu 20.04 LTS
  • Build Status ROS Buildfarm - AMD64 Focal Devel Build - Ubuntu 20.04 LTS

ROS2:

  • Build and Test GHA: Build and Test
  • Formatting GHA: Formatting

ROS2 Install

Install From Source

Install moveit2 following the instructions here. After sourcing the moveit workspace clone this repository into a colcon workspace, import and install dependencies and build:

source ~/ws_moveit/install/setup.bash
cd $COLCON_WS/src
git clone -b ros2 https://github.com/ros-planning/moveit_visual_tools
vcs import < moveit_visual_tools/moveit_visual_tools.repos
rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y
cd $COLCON_WS
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Quick Start Demo

To run some demos displaying robot states and collision objects:

ros2 launch moveit_visual_tools demo_rviz.launch.py

Code API

See VisualTools Class Reference

Usage

We’ll assume you will be using these helper functions within a class.

Initialize

Add to your includes:

#include <moveit_visual_tools/moveit_visual_tools.h>

Add to your class’s member variables:

// For visualizing things in rviz
moveit_visual_tools::MoveItVisualToolsPtr visual_tools_;

In your class’ constructor add:

visual_tools_ = std::make_shared<moveit_visual_tools::MoveItVisualTools>(node_, "world", "/moveit_visual_tools");

Collision Object Functions

Helpers for adding and removing objects from the MoveIt planning scene. CO stands for Collision Object and ACO stands for Active Collision Object.

  • cleanupCO
  • cleanupACO
  • attachCO
  • publishCollisionBlock
  • publishCollisionCylinder
  • publishCollisionTree
  • publishCollisionTable
  • publishCollisionWall

And more…

Animate Trajectories

Higher level robot and trajectory functions

  • publishTrajectoryPath
  • publishTrajectoryPoint

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package moveit_visual_tools

4.1.2 (2025-02-01)

4.1.1 (2024-11-29)

  • CI: Fix broken pre-commit action
  • CI: Return to custom cache action
  • Update status badges in README
  • Fix typo in warning message (#141)
  • CI: Fix ament_flake8 issues
  • CI: Update actions
  • Default state publisher topic to DISPLAY_ROBOT_STATE_TOPIC (#135)
  • Update GHA (#128)
  • publishTrajectoryLine(): issue error when no end-effector tips are found (#127)
  • Switch to clang-format-14 (#126)
  • Typo fix (#124)
  • Update README.md (#122)
  • Humble CI and clang-format updates (#120)
  • Contributors: Henning Kayser, Mario Prats, Paul Draghicescu, Robert Haschke, Stephanie Eng, Vatan Aksoy Tezer, mosfet80

4.1.0 (2022-05-09)

  • Update black version (#117)
  • Jammy fixes and clang-format-12 (#116)
  • Fixed deprecated call to PlanningSceneMonitor's constructor (#108)
  • Remove Foxy CI builds (#111)
  • Generate license using ament_copyright (#105)
  • Contributors: Jafar Abdi, Stephanie Eng, Vatan Aksoy Tezer

4.0.0 (2021-09-27)

  • Port to ros2 (#92)
  • Fix typo in package.xml (#87)
  • Contributors: Davide Faconti, Felix von Drigalski, Vatan Aksoy Tezer

3.6.0 (2020-10-09)

  • [feature] Unified collision environment used (#54)
  • [feature] publish cuboids with size (#59)
  • [feature] hideRobot(): use new .hide member of DisplayRobotState msg (#56)
  • [feature] Use first trajectory point as start state for visualization (#49)
  • [feature] exposing the publishers to the user (#48)
  • [feature] Highlight selected links in publishRobotState() + improved collision visualization (#45)
  • [fix] Update to Noetic and fix various warnings (#79)
  • [fix] Fix Eigen alignment (#63)
  • [fix] missing end effector markers because clear (#51)
  • [fix] Remove #attempts from setFromIK (#43)
  • [documentation] Update README.md (#69)
  • [documentation] update doc of hideRobot() (#64)
  • [maint] add soname version (#74)
  • [maint] Replace tf_conversions with tf2's toMsg / fromMsg (#66)
  • [maint] fix clang-tidy issue (#68)
  • [maint] Cleanup (#65)
    • Replace robot_model and robot_state namespaces by moveit::core
    • Fix clang-tidy issues
    • Remove deprecated function
  • [maint] Bump required cmake version (#62)

File truncated at 100 lines see the full file

Launch files

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Messages

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Services

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Plugins

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