Builder creates a visualization of a robot, given its URDF model. More...

#include <builder.h>

Public Member Functions
void	Build (visualization_msgs::MarkerArray *marker_array)
	Builds a visualization of the robot model as a marker array.
void	Build (const std::set< std::string > &link_names, visualization_msgs::MarkerArray *marker_array)
	Builds a subset of the robot model visualization as a marker array.
	Builder (const urdf::Model &model)
	Construct a Builder with the given URDF model.
void	Init ()
	Initializes the Builder.
void	SetColor (float r, float g, float b, float a)
	Sets the color of the robot.
void	SetFrameId (const std::string &frame_id)
	Set the output frame ID.
void	SetFrameLocked (bool frame_locked)
	Sets whether the marker should be locked to its frame ID.
void	SetJointPositions (const std::map< std::string, double > joint_positions)
	Set the joint angles on the robot.
void	SetLifetime (const ros::Duration &lifetime)
	Sets the lifetime of the robot markers.
void	SetNamespace (const std::string &ns)
	Set the marker namespace.
void	SetPose (const geometry_msgs::Pose &pose)
	Set the pose of the robot, in the frame ID given by SetFrameId.
void	SetTime (const ros::Time &stamp)
	Set the time stamp.
Private Member Functions
void	BuildMarker (const urdf::Link &link, int id, visualization_msgs::Marker *output)
std::string	NodeName (const std::string &name)
Private Attributes
std_msgs::ColorRGBA	color_
ForwardKinematics	fk_
std::string	frame_id_
bool	frame_locked_
bool	has_initialized_
ros::Duration	lifetime_
urdf::Model	model_
std::string	ns_
geometry_msgs::Pose	pose_
ros::Time	stamp_
transform_graph::Graph	tf_graph_

Detailed Description

Builder creates a visualization of a robot, given its URDF model.

You can either get the visualization as a visualization_msgs::MarkerArray or as a visualization_msgs::InteractiveMarker. The visualization is based on the URDF and should represent the robot with all joint positions set to 0. However, you can set the joint positions before building the marker.

The API uses a builder pattern. You first create a builder with the URDF and initialize it (Init). Then, you set the namespace (the marker IDs start at 0 and count up), time stamp, frame ID, pose, color, etc. If no color is provided or the color values are all 0, the mesh color will be used.

Once you have set all the marker fields, you then call Build to get the marker or markers representing the robot.

Example:

   // Robot 1: Default configuration.
   visualization_msgs::MarkerArray robot1;
   builder.SetNamespace("robot");
   builder.SetFrameId("base_link");
   builder.SetTime(ros::Time::now());
   builder.Build(&robot1);
   marker_arr_pub.publish(robot1);

   // Robot 2: Different pose and joints changed.
   visualization_msgs::MarkerArray robot2;
   builder.SetNamespace("robot2");

   std::map<std::string, double> joint_positions;
   joint_positions["torso_lift_joint"] = 0.1;
   joint_positions["head_tilt_joint"] = 0.5;
   builder.SetJointPositions(joint_positions);

   geometry_msgs::Pose pose;
   pose.position.y = 1;
   pose.orientation.w = 0.92387953;
   pose.orientation.z = -0.38268343;
   builder.SetPose(pose);
   builder.Build(&robot2);
   marker_arr_pub.publish(robot2);

It is also possible to filter the markers to a subset of the links. For example, to just get the markers for the left gripper of a PR2:

   std::set<std::string> gripper_links;
   gripper_links.insert("l_gripper_palm_link");
   gripper_links.insert("l_gripper_l_finger_link");
   gripper_links.insert("l_gripper_l_finger_tip_link");
   gripper_links.insert("l_gripper_r_finger_link");
   gripper_links.insert("l_gripper_r_finger_tip_link");
   builder.Build(gripper_links, &marker_array);

Note that the pose of the gripper will still be where it would have been if you had rendered the whole robot. If you want to move the gripper to an arbitrary pose, you will need to transform all the gripper markers yourself.

Definition at line 81 of file builder.h.

Constructor & Destructor Documentation

robot_markers::Builder::Builder ( const urdf::Model & model ) [explicit]

Construct a Builder with the given URDF model.

Definition at line 58 of file builder.cpp.

Member Function Documentation

void robot_markers::Builder::Build ( visualization_msgs::MarkerArray * marker_array )

Builds a visualization of the robot model as a marker array.

It sets marker properties according to the Set* methods in the class. You can build multiple sets of markers with the same builder, but you should be mindful of the history of property settings made beforehand.

Parameters:

[out] marker_array The marker array message to append to.

void robot_markers::Builder::Build	(	const std::set< std::string > &	link_names,
		visualization_msgs::MarkerArray *	marker_array
	)

Builds a subset of the robot model visualization as a marker array.

It sets marker properties according to the Set* methods in the class. You can build multiple sets of markers with the same builder, but you should be mindful of the history of property settings made beforehand.

Parameters:

[in]	link_names	The names of the links to visualize.
[out]	marker_array	The marker array message to append to.

void robot_markers::Builder::BuildMarker	(	const urdf::Link &	link,
		int	id,
		visualization_msgs::Marker *	output
	)		`[private]`

Definition at line 215 of file builder.cpp.

void robot_markers::Builder::Init ( )

Initializes the Builder.

Call Init() once before calling any other methods. This does NOT set any marker parameters (color, pose, etc.).

Definition at line 73 of file builder.cpp.

std::string robot_markers::Builder::NodeName ( const std::string & name ) [private]

Definition at line 261 of file builder.cpp.

void robot_markers::Builder::SetColor	(	float	r,
		float	g,
		float	b,
		float	a
	)

Sets the color of the robot.

Set to 0, 0, 0, 0 to use the mesh colors if available. If the mesh contains color information, then setting a non-zero color will tint the robot in that color.

Parameters:

[in]	r	The red value, between 0 and 1.
[in]	g	The green value, between 0 and 1.
[in]	b	The blue value, between 0 and 1.
[in]	a	The alpha value, between 0 and 1.

Definition at line 153 of file builder.cpp.

void robot_markers::Builder::SetFrameId ( const std::string & frame_id )

Set the output frame ID.

All the markers will be given in this frame.

Parameters:

[in] frame_id The frame ID for all the markers.

Definition at line 115 of file builder.cpp.

void robot_markers::Builder::SetFrameLocked ( bool frame_locked )

Sets whether the marker should be locked to its frame ID.

The frame ID is supplied via SetFrameId.

Parameters:

[in] frame_locked True to lock the markers to the robot's frame ID, false otherwise.

void robot_markers::Builder::SetJointPositions ( const std::map< std::string, double > joint_positions )

Set the joint angles on the robot.

If the robot does not have a joint, an error will be logged and the visualization will be unchanged.

Parameters:

[in] joint_positions The joint angles/positions to set. This method does not check joint limits, so you must supply valid values.

Definition at line 95 of file builder.cpp.

void robot_markers::Builder::SetLifetime ( const ros::Duration & lifetime )

Sets the lifetime of the robot markers.

Parameters:

[in] lifetime The lifetime for the robot markers.

void robot_markers::Builder::SetNamespace ( const std::string & ns )

Set the marker namespace.

Note that you cannot set the IDs of the markers. To visualize multiple robots, give each their own namespace.

Parameters:

[in] ns The namespace for all the markers.

Definition at line 135 of file builder.cpp.

void robot_markers::Builder::SetPose ( const geometry_msgs::Pose & pose )

Set the pose of the robot, in the frame ID given by SetFrameId.

Parameters:

[in] pose The pose of the robot.

Definition at line 144 of file builder.cpp.

void robot_markers::Builder::SetTime ( const ros::Time & stamp )

Set the time stamp.

All the markers will be given this time stamp.

Parameters:

[in] stamp The time stamp for all the markers.

Definition at line 125 of file builder.cpp.

Member Data Documentation

std_msgs::ColorRGBA robot_markers::Builder::color_ [private]

Definition at line 188 of file builder.h.

ForwardKinematics robot_markers::Builder::fk_ [private]

Definition at line 180 of file builder.h.

std::string robot_markers::Builder::frame_id_ [private]

Definition at line 184 of file builder.h.

bool robot_markers::Builder::frame_locked_ [private]

Definition at line 190 of file builder.h.

bool robot_markers::Builder::has_initialized_ [private]

Definition at line 192 of file builder.h.

ros::Duration robot_markers::Builder::lifetime_ [private]

Definition at line 189 of file builder.h.

urdf::Model robot_markers::Builder::model_ [private]

Definition at line 179 of file builder.h.

std::string robot_markers::Builder::ns_ [private]

Definition at line 186 of file builder.h.

geometry_msgs::Pose robot_markers::Builder::pose_ [private]

Definition at line 187 of file builder.h.

ros::Time robot_markers::Builder::stamp_ [private]

Definition at line 185 of file builder.h.

transform_graph::Graph robot_markers::Builder::tf_graph_ [private]

Definition at line 181 of file builder.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation