项目作者: leggedrobotics

项目描述 :
Visualization of Motions for Legged Robots in ros-rviz
高级语言: C++
项目地址: git://github.com/leggedrobotics/xpp.git
创建时间: 2017-10-24T08:04:26Z
项目社区:https://github.com/leggedrobotics/xpp

开源协议:BSD 3-Clause "New" or "Revised" License

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Build Status
Documentation
ROS hosting
License BSD-3-Clause

Xpp is a ROS package for the visualization of motion-plans for legged robots. It
draws support areas, contact forces and motion trajectories in RVIZ and displays URDFs for specific robots, including a one-legged, a two-legged hopper and HyQ. More example motions can be seen in this video, generated by the library towr.

Install

The recommended way to install is through the ROS binaries:

  1. sudo apt-get install ros-<ros-distro>-xpp

Build from source

In case you don’t want to install from the ROS binaries, this package requires Eigen and ROS:

  1. sudo apt-get install ros-<ros-distro>-desktop-full
  2. sudo apt-get install libeigen3-dev

Then you can build the package in your catkin workspace

  1. cd catkin_workspace/src
  2. git clone https://github.com/leggedrobotics/xpp.git
  3. cd ..
  4. catkin_make
  5. source ./devel/setup.bash

Unit Tests

Make sure everything installed correctly by running the unit tests through

  1. catkin_make run_tests

or if you are using catkin tools.

  1. catkin build xpp_vis --no-deps --verbose --catkin-make-args run_tests

Usage

A few examples for different robots are provided in the xpp_examples package, e.g.
xpp_examples/src/monoped_pub.cc. For starters, run

  1. roslaunch xpp_examples hyq_bag.launch // or any other launch file in this package

Add your own Robot

Want to visualize your own robot, then checkout these instructions and we’re happy to receive your pull-request.
See here the list of contributors who participated in this project.

Authors

Alexander W. Winkler - Initial Work/Maintainer

The work was carried out at the following institutions:

Citation

If you use this work in an academic context, please cite as follows:

  1. @misc{xpp_ros,
  2. author = {Alexander W. Winkler},
  3. title = {{Xpp - A collection of ROS packages for the visualization of legged robots}},
  4. year = {2017},
  5. doi = {10.5281/zenodo.1037901},
  6. url = {https://doi.org/10.5281/zenodo.1037901}
  7. }

Bugs & Feature Requests

Please report bugs, request features or ask questions using the Issue Tracker.