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Simple custom VRPN observer (using ROS)

Please refer to the state observation tutorial for futher details.

This simple observer listen to the specified ROS topic and update the base pose of the specified robot/object in mc_rtc.

Dependencies

This package requires:

  • mc_rtc
  • ROS (tested on noetic)

(can be used with real_pose)

And the following ros packages:

  • ros-${ROS_DISTRO}-mc-rtc-plugin
  • ros-${ROS_DISTRO}-mc-rtc-tools
  • ros-${ROS_DISTRO}-mc-state-observation
  • ros-${ROS_DISTRO}-vrpn-client-ros

Usage

  1. Install this project's dependencies
  2. Clone this repo (oustide of the catkin WS) and install it (cmake .. && make && make install)

In your controller's configuration (Controller.in.yaml), add

ObserverPipelines:
- name: ObserverName
  gui: true
  observers:
    - type: Encoder
    - type: VrpnSensorObserverROS
      update: true
      config:
        updateRobot: RobotName
        rostopic: /ros_topic_name

Launch the vrpn client:

roslaunch vrpn_client_ros sample.launch server:=IP_ADDRESS