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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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How to visualize a trajectory in rViz? #305

Closed allicen closed 1 year ago

allicen commented 1 year ago

When I run the example roslaunch tesseract_ros_examples glass_upright_example.launch, I only see a point cloud. And I can't start executing the TrajOpt trajectory in rViz: trajopt Any ideas how to do this? Thank you

Levi-Armstrong commented 1 year ago

What version are you using? In the tesseract panel it should have a trajectory tab which allows you to play, pause and select states.

Levi-Armstrong commented 1 year ago

https://github.com/tesseract-robotics/tesseract_qt/blob/main/docs/images/tesseract_qt_joint_trajectory_widget.png

allicen commented 1 year ago

Thanks! I use Ubuntu 20.04 + Ros Noetic + Docker. This button is not visible in the default theme rViz: rviz-default

I can't choose here. Do I need additional settings? rviz-manip

Levi-Armstrong commented 1 year ago

Hit the refresh button which is the last toolbar button. It grabs a snap shot of the kinematics objects since in Tesseract these can be changed.

allicen commented 1 year ago

Thanks, it works!