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robotology-playground / codyco-y4-viz

Preliminary files for CoDyCo Y4 Demo Visualization Infrastructure
GNU General Public License v2.0
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testbot_description ros package created #1

Closed MartaLorenzini closed 7 years ago

MartaLorenzini commented 7 years ago

testbot_description ros package contains urdf files, the associated launch files to visualize them in rviz and the state and transform publishers files in c++

traversaro commented 7 years ago

cc @diegoferigo @MartaLorenzini is playing a bit with RViz and the relative plugins. In theory the content of the repo should be usable following the instructions in the README.

MartaLorenzini commented 7 years ago

About the robot, it is an approximate model of a human subject so it is not a real one! The idea is to use this model with data collected during experiments on human robot interaction through a suit provided with IMUs, forceplates and the robot as a F/T sensor. The tf_broadcaster.cpp actually does the same things as a standard state_publisher, it has been created only for test purpose! As regards the other publishers they are different since they allow to set the efforts and the velocity in addition to the desired state and transforms.