nalchevanidze / vdm

VDM (visualization-of-dynamical-model): RoboCup project visualizing acting forces on arbitrary urdf-robot-models in rviz.

VDM (visualization-of-dynamical-model)

RoboCup project visualizing acting forces on arbitrary urdf-robot-models in rviz.

Requirments

• rviz
• ros

Getting Started

Setup

Workspace

mkdir vdm
cd vdm
mkdir src
cd src
git clone [e-mail]:nalchevanidze/vdm.git
git clone [e-mail]:bit-bots/bitbots_meta.git

cd ../
catkin init

.bashrc

In order to develop for ros using our vdm-package, your environment needs to be set up accordingly.
Please find below an example configuration:

# Configure VDM using environment variables:

# ROS-version codename (kinetic, melodic, etc.)
export VDM_ROS_VERSION="melodic"
# catkin-workspace path
export VDM_WS_PATH="$HOME/catkin_ws"
# path of the cloned bitbots_meta repository
export VDM_BITBOTS_META_PATH="$VDM_WS_PATH/src/bitbots_meta"


# Setup the ros-specific environment:

source /opt/ros/kinetic/setup.bash
source $VDM_WS_PATH/devel/setup.bash

Launch

Change into your catkin-workspace and execute your desired launch-file:

# general:
roslaunch vdm [lauchfile-name]

# jacobian-testing:
rosrun vdm jacobian

Known Problems

It may be possible that rviz does not properly visualize the geometry of your robot model (it might for example be invisible). According to the ROS forum it can be fixed by adding the following line to your .bashrc:

export LC_NUMERIC="en_US.UTF-8"

About

Team

VDM is written and maintained by:

• nalchevanidze
• haukesomm