Visualization tools for CoDyCo Y4 Demo

[traversaro]

The idea is to have a visualizer for the realtime estimates of joint position, joint torques and external force-torques for both the iCub robot and the humans involved in the Y4 Demo.

The visualization tool used will be RViz (http://wiki.ros.org/rviz).

The estimation results will be published on ROS topics by something (the estimation architecture needs to be defined), using the following ROS types:

• http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html for joint position and torques (in ros jargon, effort),
• http://docs.ros.org/jade/api/geometry_msgs/html/msg/WrenchStamped.html for force plate and external force-torques ,
• http://wiki.ros.org/tf for the relative position between the robot and the human .

The following RViz plugin will be used for visualization:

• http://wiki.ros.org/rviz/DisplayTypes/Effort
• http://wiki.ros.org/rviz/DisplayTypes/Wrench

The ROS topics will be pubblished by the estimation part using the ROS/YARP integration documented in http://www.yarp.it/yarp_with_ros.html , to make sure that the estimation part does not depend in any way on ROS and can be run easily in Windows/macOS/Linux .

cc @martalorenzini @diegoferigo

[traversaro]

As discussed f2f with @martalorenzini, we agreed on pushing the code prepared so far in a separated repository, to avoid polluting codyco-modules with catkin stuff.

[traversaro]

@martalorenzini : https://github.com/robotology-playground/codyco-y4-viz .

[traversaro]

Little design documented updated in https://github.com/robotology/codyco-modules/issues/218#issue-202756368 , @MartaLorenzini feel free to add whatever you seem more fit.

[traversaro]

As discussed f2f , all the visualization code will be moved to https://github.com/robotology-playground/human-dynamics-estimation . I think we can then close the issue here and move them there.