urdf-viz

Visualize URDF(Unified Robot Description Format) file. urdf-viz is written by rust-lang.

Install

Install by `cargo`

If you are using rust-lang already and cargo is installed, you can install by cargo install.

Install urdf-viz

$ cargo install urdf-viz

(FYI) Install `cargo`

$ curl https://sh.rustup.rs -sSf | sh

and follow the instruction of the installer.

Install by download binary from github

If you don't want to install rust and cargo, you might be able to find binary for Ubuntu16.04 64bit here.

For example, if you want to use v0.1.1,

$ wget https://github.com/OTL/urdf-viz/releases/download/v0.1.1/urdf-viz-0.1.0-ubuntu16.04-amd64.tar.gz
$ tar xvf urdf-viz-0.1.1-ubuntu16.04-amd64.tar.gz
$ ./urdf-viz /opt/ros/kinetic/share/pr2_description/robots/pr2.urdf.xacro

Command line

urdf-viz command will be installed by cargo. It needs rosrun and rospack to resolve package:// in <mesh> tag, and it uses xacro to convert .xacro file into urdf file. It means you need $ source ~/catkin_ws/devel/setup.bash before using urdf-viz.

$ urdf-viz URDF_FILE.urdf

It is possible to use xacro file directly. It will be converted by rosrun xacro xacro inside of urdf-viz.

$ urdf-viz XACRO_FILE.urdf.xacro

For other options, please read the output of -h option.

$ urdf-viz -h

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 ]
Inverse kinematics (only positions)
- Shift + Drag to use inverse kinematics(Y and Z axis)
- Shift + Ctrl + Drag to use inverse kinematics(X and Z axis)
- change the move target for inverse kinematics by , and .
r key to set random joints
Move view point
- Mouse Right Drag to translate view camera position
- Mouse Left Drag to look around
- Scroll to zoom in/out