Class RoboplanVisualizer

Class Documentation

class RoboplanVisualizer

Computes RViz visualization markers for a robot configuration.

Uses the Pinocchio model from a Scene and builds a visual GeometryModel from the URDF to produce marker messages directly, no ROS node, TF, or robot_state_publisher required.

Public Functions

RoboplanVisualizer(std::shared_ptr<const roboplan::Scene> scene, const std::string &urdf_xml, const std::string &frame_id = "world", const std::string &ns = "/roboplan", const std::optional<std_msgs::msg::ColorRGBA> &color = std::nullopt)

Construct the visualizer.

Parameters:

  • scene – A fully configured RoboPlan Scene for model reference.

  • urdf_xml – URDF XML string (needed to build the visual geometry model, since Scene only holds the collision geometry model).

  • frame_id – The frame_id written into every marker header.

  • ns – Marker namespace prefix.

  • color – Optional override color applied to every marker.

visualization_msgs::msg::MarkerArray markers_from_configuration(const Eigen::VectorXd &q) const

Compute visualization markers for the given joint configuration.

Runs Pinocchio geometry placement updates and returns a MarkerArray that the caller can publish however they like.

Parameters:

q – Joint positions (size must match the scene model’s nq).

Returns:

MarkerArray with one marker per supported visual geometry.

void set_color(const std_msgs::msg::ColorRGBA &color)

Override the color applied to every marker.

void clear_color()

Remove any color override so per-geometry colors are used.

Public Static Functions

static visualization_msgs::msg::MarkerArray clear_markers()

Build a MarkerArray containing a single DELETEALL marker.