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visualizer_module.orogen
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visualizer_module.orogen
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name "visualizer_module"
# Optionally declare the version number
# version "0.1"
import_types_from 'base'
import_types_from 'envire'
using_library 'envire'
using_library 'vizkit3d'
using_library 'base-viz'
using_library 'envire-viz'
task_context "Task" do
needs_configuration
input_port('envire_environment_in', ro_ptr('std/vector</envire/BinaryEvent>')).
doc("Complete envire environment")
input_port("robot_pose_in", "/base/samples/RigidBodyState").
doc "Position and orientation of the robot in the world"
input_port('trajectory_in', '/std/vector<base::Vector3d>').
doc "Single waypoints of the trajectory"
input_port("trajectory_spline_in", "std::vector</base/Trajectory>").
doc("Spline version of the trajectory")
input_port("motion_command_in", "base/MotionCommand2D").
doc "Visualizes the motion command"
input_port("pointcloud_in", "base/samples/Pointcloud").
doc "Visualizes the pointcloud"
periodic 0.1
end
deployment "visualizer_module_deployment" do
task("visualizer_module", "Task").
periodic(0.1)
end