urdf-viz
Visualize URDF(Unified Robot Description Format) file.
urdf-viz
is written by rust-lang.
Install
Pre requirements
If you have not installed ROS, you may need cmake, xorg-dev, glu to compile assimp-sys and glfw-sys.
$ sudo apt-get install cmake xorg-dev libglu1-mesa-dev
Install with cargo
If you are using rust-lang already and cargo
is installed, you can install by cargo install
.
(FYI) Install cargo
|
and follow the instruction of the installer.
Download binary from github
If you don't want to install rust
and cargo
, you can find
binary urdf-viz
for Ubuntu16.04/14.04 64bit here.
For example, if you want to use v0.1.2 and Ubuntu16.04,
Build without assimp
assimp
cannot be used on OSX or Windows.
You can disable assimp by disable assimp
feature which is enabled in default.
It can handle .obj
files even if you disable assimp
.
$ cargo build --no-default-features
Command line
urdf-viz
command will be installed.
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
or something before using urdf-viz
.
It is possible to use xacro file directly.
It will be converted by rosrun xacro xacro
inside of urdf-viz
.
For other options, please read the output of -h
option.
GUI
In the GUI, you can do some operations with keyboard and mouse.
- 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(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
Gallery
Dependencies
- kiss3d:
urdf-viz
is strongly depend onkiss3d
, which is super easy to use, great 3D graphic engine. - nalgabra: linear algebra library.
- k: kinematics library which is based on nalgabra. It can load URDF files using
urdf-rs
. - assimp-rs: assimp rust interface.
kiss3d
supports.obj
files natively, but urdf containsdae
orstl
files. These files are converted to kiss3d mesh model byassim-rs
- urdf-rs: URDF file loader.
- structopt: super easy command line arguments parser.