Added visualization capabilities for the robots. There is an ObeliskVizRobot and an ObeliskVizRobotDefault. The former is an abstract class that provides most of the framework for displaying a robot. The later is a concrete implementation that works only for messages with specific fields.
The launch file has been updated to accept viz configuration information. Multiple ObeliskVizRobot nodes can be launched - we support visualizing multiple robots at once.
In addition to these, Unitree g1 and go2 robot packages have been made for testing with the idea of using these as supported robots in the future.
Added visualization capabilities for the robots. There is an
ObeliskVizRobotand anObeliskVizRobotDefault. The former is an abstract class that provides most of the framework for displaying a robot. The later is a concrete implementation that works only for messages with specific fields.The launch file has been updated to accept viz configuration information. Multiple
ObeliskVizRobotnodes can be launched - we support visualizing multiple robots at once.In addition to these, Unitree g1 and go2 robot packages have been made for testing with the idea of using these as supported robots in the future.
An rviz config folder has also been added.