urdf_viz
Visualize URDF(Unified Robot Description Format) file.
urdf_viz
is written by rust-lang.
It supports .obj
files as mesh format, but it can convert other files using meshlabserver
command
or assimp
command. Please install meshlab
and assimp
.
Install
Install mesh converter commands
Command line
urdf_viewer
command will be installed by cargo.
It is possible to use xacro file directly.
It will be converted by rosrun xacro xacro
in urdf_viewer
.
The default mesh converter is meshlabserver
. If you failed to convert mesh files,
try -a
option to use assimp
.
For other commands, please read -h
option.
GUI
In the GUI, you can
- Move a joint
- set the angle of a joint by
Up
/Down
key Ctrl
+ Drag to move the angle of a joint- change the joint to be moved by
[
and]
- set the angle of a joint by
- Inverse kinematics (only positions)
Shift
+ Drag to use inverse kinematics(Y and Z axis)Shift
+Ctrl
+ Drag to use inverse kinematics(Y and X axis)- change the move target for inverse kinematics by
,
and.
r
key to set random joints- move camera
- Mouse Right Drag to translate camera position
- Mouse Left Drag to look around
- Scroll to zoom in/out
Garally