Introduce tools to display surfaces and convex #431
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Thanks @gergondet this looks great!
As far as the replacement of mc_convex_visualization/mc_surface_visualization is concerned, this is definitely a nice improvement.
I've taken the liberty of adding the ability to change the display configuration for convex/surfaces:
- I've put a default configuration that is less eye destroying (semi transparent dark green instead of the very bright solid green)
- I've added the ability to change the configuration of all/each convex/surface configuration online in
mc_convex_visualization/mc_surface_visualization
One use-case we have with @Hugo-L3174 is rescaling meshes/convexes/surfaces online according to human dimensions estimated from XSens data (so that the robot can establish safe contacts on real humans). The GUI tools here will be nice for that (I had a concurent implementation). Regarding recaling of meshes, right now it does not work out-of-the box using either the RobotModel in rviz (have to re-run rviz) nor Magnum, but it can be done by re-publishing all the visuals of the robot as mc_rtc::gui::Visual. We can see later how to best support that.
So I'd say LGTM, which will enable me to open a PR for full rviz panel support on ROS2.
This allows to have a simpler way to instantiate a ControllerServer with the same default publication settings as mc_rtc
This utility serves the same purpose as mc_convex_visualization from mc_rtc_ros but relies on mc_rtc GUI system instead
Keep mc_convex_visualization/mc_surfaces_visualization to match the existing ROS tools
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Added -- - [mc_rbdyn/GUI] Add helpers to visualize surfaces and convexes (#431) - [mc_rtc/GUI] Added RobotMsg: a complete view of the robot state (#425) - [mc_rtc] Add path helpers (#431) - [utils/RobotVisualizer] Add a new tool to visualize a robot built on mc_rtc GUI (#431) Changes -- - [mc_rtc/GUI] Send scale vector for visual mesh instead of scalar (#430) Fixes -- - [mc_rbdyn] Always use default_attitude to initialize the attitude (#424) - [mc_tasks] Clarify usage of targetSurface/targetFrame in ImpedanceTask
This PR has two parts:
mc_robot_visualization(and its childrenmc_surfaces_visusalizationandmc_convex_visualization)The later tools are meant to replace their equivalent in mc_rtc_ros. They are also easier to use as you can visualize many things simultaneously and control what to display. You can also easily swap the robots that you want to visualize (in RViZ this requires "refreshing" the robot display but on e.g. magnum it works out-of-the-box)