I sometimes use RobWorkStudio to visualize the scene, robots, trajectories, and for the task interface. It's a nice tool to gather everything in the same place. This often requires enabling some ROS interaction, and it's not terribly straightforward to configure the build system for both ROS and RWS.
In this repository you can find a blank ROS package template containing a RWS plugin: RWS ROS plugin template.
Simply place the package in your catkin workspace and use catkin build or catkin_make to build it. It obviously requires RobWorkStudio to be installed and the environment variables RW_ROOT and RWS_ROOT pointing to RobWork package and RobWorkStudio package respectively. Please check the previous post to see how to do it.
The plugin template shows how to set up the build system and how to embed ROS node handle, subscribing and publishing in the plugin code. A sample subscriber listens to a /level [std_msgs/Int32] topic and updates a QT label in the GUI with the received data. A sample publisher outputs the data from a QSpinBox widget to a /measured [std_msgs/Int32] topic.
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