moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

moveit_visual_tools repository

No version for distro ardent. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

No version for distro crystal. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

No version for distro dashing. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

moveit_visual_tools repository

No version for distro foxy. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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

moveit_visual_tools repository

No version for distro jade. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

No version for distro indigo. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

No version for distro hydro. Known supported distros are highlighted in the buttons above.

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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 Xenial Debian Build - Ubuntu 16.04 LTS
ROS Buildfarm - AMD64 Xenial Devel Build - Ubuntu 16.04 LTS
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

moveit_visual_tools repository

moveit_visual_tools

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
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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
ROS Buildfarm - AMD64 Focal Source Build - Ubuntu 20.04 LTS
ROS Buildfarm - AMD64 Focal Devel Build - Ubuntu 20.04 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

File truncated at 100 lines see the full file