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Can anyone suggest how to create an OpenGL function (no OGRE dependencies) that renders the PR2? That is, I hope to construct a function that looks like:
void openGLRenderPR2 (JointState);
I imagine this would be of use to many people who are using visualization tools outside of rviz (and without OGRE dependencies).
Thanks!
Mike
It is actually not that easy. You first need to read in the robot description from urdf, there is a library for doing so. Then you to load all meshes. rviz used to use assimp for doing that. Finally, you need a tf listener to get the current pose of all links specified in the urdf.
I implemented the functionality for rendering the PR2 in common lisp, stack cram_physics and I think Bosch's pr2_camera_self_filter contains some code for rendering the PR2 in C++.
Asked: 2012-04-01 16:13:21 -0600
Seen: 371 times
Last updated: Apr 05 '12
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