Open Zolkin1 opened 1 month ago
Publishing robot information to Rviz shouldn't be too hard, but we should use some other packages to make it easier.
We need to provide the urdf to Rviz too. I believe this can be done in a launch file.
Also see this tutorial.
We want to interface with RVIZ easily. Most of this work has already been done since we are in the ROS ecosystem.
At the end of the day, the user can write code to support any visualization that ROS 2 can handle, so the question here is: what is the responsibility of Obelisk visualization?
I think we should provide ways to visualize any common Obelisk message types - this can happen one of three ways:
(See here). The extent we can use option one, we should as that requires no code.
Consider the following two use cases for viz:
We should also consider if we want any helper functions that translate objects in the world (i.e. stairs or stepping stones) into rviz objects so re-playing data makes more sense.
Is there any specific work we need to do to allow a user to visualize hardware and simulation data at the same time to see the difference?
The questions we need answered:
I think a very reasonable approach here is to just to provide some conversion functions to convert common data structures to messages that RVIZ supports and allowing
ObeliskNodes
to publish these.ObeliskNodes
to publish these basic viz typesDown the line we can implement custom displays if needed.
Other todos: