ROS Index
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions -
ROS Buildfarm - AMD64 Focal Source Build - Ubuntu 20.04 LTS
-
ROS Buildfarm - AMD64 Focal Devel Build - Ubuntu 20.04 LTS
ROS2:
-
GHA: Build and Test -
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 4.1.2 |
README
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:
-
Github Actions
-
-
ROS2:
-
GHA: Build and Test
-
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
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2018-11-14 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 3.4.1 |
README
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
Developed by Dave Coleman at the Correll Robotics Lab, University of Colorado Boulder with outside contributors.
-
Travis CI -
ROS Buildfarm - AMD64 Xenial Debian Build
-
ROS Buildfarm - AMD64 Xenial Devel Build
Install
Ubuntu Debian
sudo apt-get install ros-kinetic-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro kinetic
Quick Start Demo
First launch Rviz:
roslaunch moveit_visual_tools demo_rviz.launch
Then run some demos displaying robot states and collision objects:
roslaunch moveit_visual_tools demo.launch
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_.reset(new moveit_visual_tools::MoveItVisualTools("base_frame","/moveit_visual_markers"));
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
- publishRobotState
- publishAnimatedGrasps
- publishIKSolutions
Show parts of a robot
These functions are a little more complicated
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/davetcoleman/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | jade-devel |
| Last Updated | 2016-06-14 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 3.1.0 |
README
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 helps you visualize:
- Basic Rviz geometric shapes
- MoveIt! collision objects
- MoveIt! and ROS trajectories
- Robot states
- End effectors
Developed by Dave Coleman at the Correll Robotics Lab, University of Colorado Boulder with outside contributors.
-
Travis CI -
ROS Buildfarm - Trusty Devel Source Build
-
ROS Buildfarm - AMD64 Trusty Debian Build
Install
Ubuntu Debian
sudo apt-get install ros-indigo-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro indigo
Quick Start Demo
First launch Rviz:
roslaunch moveit_visual_tools demo_rviz.launch
Then run some demos displaying robot states and collision objects:
roslaunch moveit_visual_tools demo.launch
This package is built in top of rviz_visual_tools and all those features are included. Try running the rviz demo documented on this README.
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/visual_tools.h>
Add to your class’s member variables:
// For visualizing things in rviz
moveit_visual_tools::VisualToolsPtr visual_tools_;
In your class’ constructor add:
visual_tools_.reset(new moveit_visual_tools::VisualTools("base_frame","/moveit_visual_markers"));
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
- publishRobotState
- publishAnimatedGrasps
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/davetcoleman/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2016-02-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 3.0.5 |
README
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 includes:
- Basic geometric markers for Rviz
- MoveIt! collision object tools
- Trajectory visualization tools
- Robot state tools
Developed by Dave Coleman at the Correll Robotics Lab, University of Colorado Boulder with outside contributors.
-
Travis CI
-
-
Install
Ubuntu Debian
sudo apt-get install ros-indigo-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro indigo
Quick Start Demo
To see random shapes generated in Rviz:
roslaunch moveit_visual_tools visual_tools_demo.launch
You should see something like:
You can also demo the collision objects generation TODO: THIS IS CURRENTLY BROKEN :(
roslaunch moveit_visual_tools collision_objects_demo_rviz.launch
roslaunch moveit_visual_tools collision_objects_demo.launch
Code API
See VisualTools Class Reference
Upgrade Notes From Indigo
We recently did a major refactor of moveit_visual_tools in Indigo that caused some API breaking changes. If you do not want to bother, you can still build the old version from source using the branch indigo-devel-old-api.
To upgrade, do the following (or use the upgrade script further down):
| Orignal API | New API |
|---|---|
| #include <moveit_visual_tools/visual_tools.h> | #include <moveit_visual_tools/moveit_visual_tools.h> |
| moveit_visual_tools::VisualTools | moveit_visual_tools::MoveItVisualTools |
| moveit_visual_tools::VisualToolsPtr | moveit_visual_tools::MoveItVisualToolsPtr |
| moveit_visual_tools::rviz_colors | rviz_visual_tools::colors |
| moveit_visual_tools::rviz_scales | rviz_visual_tools::scales |
Auto Upgrade Script
Run each line in order in the /src of your catkin workspace:
findreplace() { grep -lr -e "$1" * | xargs sed -i "s/$1/$2/g" ;}
findreplace '<moveit_visual_tools\/visual_tools.h>' '<moveit_visual_tools\/moveit_visual_tools.h>'
findreplace moveit_visual_tools::VisualTools moveit_visual_tools::MoveItVisualTools
findreplace 'moveit_visual_tools::' 'rviz_visual_tools::'
findreplace 'rviz_visual_tools::MoveItVisualTools' 'moveit_visual_tools::MoveItVisualTools'
Usage
We’ll assume you will be using these helper functions within a class.
Initialize
Add to your includes:
#include <moveit_visual_tools/visual_tools.h>
Add to your class’s member variables:
// For visualizing things in rviz
moveit_visual_tools::VisualToolsPtr visual_tools_;
In your class’ constructor add:
```
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/davetcoleman/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | hydro-devel |
| Last Updated | 2014-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 1.3.0 |
README
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 includes:
- Basic geometric markers for Rviz
- MoveIt! collision object tools
- Trajectory visualization tools
- Robot state tools
Developed by Dave Coleman at the Correll Robotics Lab, University of Colorado Boulder with outside contributors.
Build Status
Install
Ubuntu Debian
sudo apt-get install ros-hydro-moveit-visual-tools
sudo apt-get install ros-indigo-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro indigo
Usage
We’ll assume you will be using these helper functions within a class.
Initialize
Add to your includes:
#include <moveit_visual_tools/visual_tools.h>
Add to your class’s member variables:
// For visualizing things in rviz
moveit_visual_tools::VisualToolsPtr visual_tools_;
In your class’ constructor add:
visual_tools_.reset(new moveit_visual_tools::VisualTools("base_frame","/moveit_visual_markers"));
Change the first parameter to the name of your robot’s base frame, and the second parameter to whatever name you’d like to use for the corresponding Rviz marker ROS topic.
There are several other settings you can adjust, which I might get around to documenting in the future:
visual_tools_->setMuted(false);
visual_tools_->setLifetime(20.0);
visual_tools_->setEEGroupName(grasp_data_.ee_group_);
visual_tools_->setPlanningGroupName(planning_group_name_);
visual_tools_->setFloorToBaseHeight(floor_to_base_height);
visual_tools_->setGraspPoseToEEFPose(grasp_pose_to_eef_pose);
visual_tools_->setAlpha(alpha);
visual_tools_->setGlobalScale(scale);
visual_tools_->setBaseFrame(frame_name);
Tools
Now in your code you can easily debug your MoveIt! code using visual markers in Rviz
Start rviz and create a new marker using the ‘Add’ button at the bottom right. Choose the marker topic to be the same as the topic you specified in the constructor.
Example Code
In the following snippet we create a pose at xyz (0.1, 0.1, 0.1) and rotate the pose down 45 degrees along the Y axis. Then we publish the pose as a arrow for visualziation in Rviz. Make sure your Rviz fixed frame is the same as the one chosen in the code.
// Create pose
Eigen::Affine3d pose;
pose = Eigen::AngleAxisd(M_PI/4, Eigen::Vector3d::UnitY()); // rotate along X axis by 45 degrees
pose.translation() = Eigen::Vector3d( 0.1, 0.1, 0.1 ); // translate x,y,z
// Publish arrow vector of pose
ROS_INFO_STREAM_NAMED("test","Publishing Arrow");
visual_tools_->publishArrow(pose, moveit_visual_tools::RED, moveit_visual_tools::LARGE);
Basic Publishing Functions
See visual_tools.h for more details and documentation on the following functions:
- publishSphere
- publishArrow
- publishRectangle
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2018-11-14 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 3.4.1 |
README
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
Developed by Dave Coleman at the Correll Robotics Lab, University of Colorado Boulder with outside contributors.
-
Travis CI
-
-
Install
Ubuntu Debian
sudo apt-get install ros-kinetic-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro kinetic
Quick Start Demo
First launch Rviz:
roslaunch moveit_visual_tools demo_rviz.launch
Then run some demos displaying robot states and collision objects:
roslaunch moveit_visual_tools demo.launch
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_.reset(new moveit_visual_tools::MoveItVisualTools("base_frame","/moveit_visual_markers"));
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
- publishRobotState
- publishAnimatedGrasps
- publishIKSolutions
Show parts of a robot
These functions are a little more complicated
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-08-03 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 3.5.2 |
README
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
Developed by Dave Coleman at the Correll Robotics Lab, University of Colorado Boulder with outside contributors.
-
Travis CI
-
-
-
ROS Buildfarm - AMD64 Bionic Source Build - Ubuntu 18.04 LTS
-
ROS Buildfarm - AMD64 Bionic Devel Build - Ubuntu 18.04 LTS
Install
Ubuntu Debian
sudo apt-get install ros-kinetic-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro kinetic
Quick Start Demo
First launch Rviz:
roslaunch moveit_visual_tools demo_rviz.launch
Then run some demos displaying robot states and collision objects:
roslaunch moveit_visual_tools demo.launch
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_.reset(new moveit_visual_tools::MoveItVisualTools("base_frame","/moveit_visual_markers"));
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
- publishRobotState
- publishAnimatedGrasps
- publishIKSolutions
Show parts of a robot
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit_visual_tools.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2024-10-14 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| moveit_visual_tools | 3.6.1 |
README
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:
-
Github Actions
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Install
Ubuntu Debian
sudo apt-get install ros-kinetic-moveit-visual-tools
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. Depending on your current version of ROS, use:
rosdep install --from-paths src --ignore-src --rosdistro kinetic
Quick Start Demo
First launch Rviz:
roslaunch moveit_visual_tools demo_rviz.launch
Then run some demos displaying robot states and collision objects:
roslaunch moveit_visual_tools demo.launch
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_.reset(new moveit_visual_tools::MoveItVisualTools("base_frame","/moveit_visual_markers"));
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
- publishRobotState
- publishAnimatedGrasps
- publishIKSolutions
File truncated at 100 lines see the full file