Publishes the TF frames of the Robot and objects to the "tf" topic so they can be visualized in Rviz.
There are two robots being published, one with a "simulation" tf-prefix and one without. The robot with the prefix represents the projection of the bullet world and shows the "thoughts" of the robot. The other just shows the real motion without reasoning, like they would be executed on the real robot.
The two descriptions can be seen simultaneous in Rviz by loading two robot_descriptions.
Additional Visualization marker representing the objects are being published.
Added
A new event called projection-state-changed which is called every time the robot "thinks"
A method which publishes visualization marker for every item in the bullet world
Modified the signature of cram_tf/visualization.lisp:visualize-marker to take locked-frame as a key parameter
Modified the tf-broadcaster to include a tf-prefix
created a second broadcaster "projection-broadcaster", which is called in the projection-state-changed event
Known bugs:
When placing the bowl in the household-demo the robot parks his arms in the bulletworld but this motion is not published.
Description
Publishes the TF frames of the Robot and objects to the "tf" topic so they can be visualized in Rviz. There are two robots being published, one with a "simulation" tf-prefix and one without. The robot with the prefix represents the projection of the bullet world and shows the "thoughts" of the robot. The other just shows the real motion without reasoning, like they would be executed on the real robot.
The two descriptions can be seen simultaneous in Rviz by loading two robot_descriptions.
Additional Visualization marker representing the objects are being published.
Added
Known bugs: