ori-drs / locomotion-viewer

An Eigen tool to visualize in Rviz locomotion-related geometric objects

Locomotion-viewer: a Rviz tool for visualizing locomotion-related geometric objects

This library specializes on top of the ros melodic rviz-visual-tools package to construct geometrical objects related to robotics legged locomotion such as support regions, trajectories and 3D feasibility constraints. All interfaces are provided through Eigen.

What you can visualize in Rviz with locomotion-viewer:

• solid, dashed, dotted and transparent curves;
• 2D polygons of different colors and with arbitrary number of vertices;
• 3D objects such as tetrahedrons and hexahedrons (given the vertices).

dependencies:

• Eigen
• ros-melodic-rviz-visual-tools

The above ROS dependencies can be installed with the following commands:

sudo apt install libeigen3-dev
sudo apt install ros-melodic-rviz-visual-tools