urdf-viz: standalone urdf viewer - roscon...
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urdf-viz: Standalone URDF viewer
@OTL
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������OTL (Takashi Ogura)● Robotics engineer● Started ROS about 8 years ago. (2009/12~)
Author of:「ROSではじめるロボットプログラミング」https://www.amazon.co.jp/dp/4777519015日本初のROSの本
ros-japan-users-group (mailing list) のFounder
twitter: @OTL
https://github.com/OTL
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How do you check your URDF/xacro file?
URDF����� �������
You need
● rviz (Isn’t heavy?)● lauch file to upload the urdf as a parameter● joint_state publisher to publish /tf
Why you need so many nodes and commands just for debugging a urdf file?
![Page 4: urdf-viz: Standalone URDF viewer - ROSCon JProscon.jp/2018/presentations/lightning_talks/ROSCon_JP...How do you check your URDF/xacro file? URDF You need rviz (Isn’t heavy?) lauch](https://reader036.vdocuments.net/reader036/viewer/2022081606/5ff05379f82242249b567c22/html5/thumbnails/4.jpg)
urdf-viz: Standalone URDF viewerhttps://github.com/OTL/urdf-viz
![Page 5: urdf-viz: Standalone URDF viewer - ROSCon JProscon.jp/2018/presentations/lightning_talks/ROSCon_JP...How do you check your URDF/xacro file? URDF You need rviz (Isn’t heavy?) lauch](https://reader036.vdocuments.net/reader036/viewer/2022081606/5ff05379f82242249b567c22/html5/thumbnails/5.jpg)
How to install urdf-viz
Download a single binary from github.(Only Ubuntu16.04 is supported)https://github.com/OTL/urdf-viz/releases
or
$ cargo install urdf-viz (if you use Rust)urdf-viz is written in Rust-lang.
![Page 6: urdf-viz: Standalone URDF viewer - ROSCon JProscon.jp/2018/presentations/lightning_talks/ROSCon_JP...How do you check your URDF/xacro file? URDF You need rviz (Isn’t heavy?) lauch](https://reader036.vdocuments.net/reader036/viewer/2022081606/5ff05379f82242249b567c22/html5/thumbnails/6.jpg)
How to install urdf-viz
Download a single binary from github.(Only Ubuntu16.04 is supported)https://github.com/OTL/urdf-viz/releases
or
$ cargo install urdf-viz (if you use Rust)urdf-viz is written in Rust-lang.
![Page 7: urdf-viz: Standalone URDF viewer - ROSCon JProscon.jp/2018/presentations/lightning_talks/ROSCon_JP...How do you check your URDF/xacro file? URDF You need rviz (Isn’t heavy?) lauch](https://reader036.vdocuments.net/reader036/viewer/2022081606/5ff05379f82242249b567c22/html5/thumbnails/7.jpg)
How to install urdf-viz
Download a single binary from github.(Windows/MacOS/Linux are supported!)https://github.com/OTL/urdf-viz/releases
or
$ cargo install urdf-viz (if you use Rust)urdf-viz is written in Rust-lang.
![Page 8: urdf-viz: Standalone URDF viewer - ROSCon JProscon.jp/2018/presentations/lightning_talks/ROSCon_JP...How do you check your URDF/xacro file? URDF You need rviz (Isn’t heavy?) lauch](https://reader036.vdocuments.net/reader036/viewer/2022081606/5ff05379f82242249b567c22/html5/thumbnails/8.jpg)
ReloadPush ‘L’!!
����URDF����� ����
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HTTP�������
Use curl to operate
$ curl -H "Accept: application/json" -H "Content-type: application/json" -X POST
-d '{"names": ["r_shoulder_yaw", "r_shoulder_pitch"], "angles": [0.8, -0.8]}'
http://127.0.0.1:7777/set_joint_angles | jq
{
"is_ok": true,
"reason": ""
}