Helper functions for displaying and debugging MoveIt data in Rviz via published markers, trajectories, and collision objects.
MoveIt Visual Tools is a ROS package that provides helper functions for visualizing and debugging MoveIt data in Rviz. It allows developers to easily display collision objects, trajectories, robot states, and geometric shapes to understand internal processes in robot motion planning. The package simplifies debugging by offering convenience functions that publish markers and interactive elements.
ROS developers and robotics engineers working with MoveIt for motion planning, especially those needing to debug and visualize robot states, collision objects, and trajectories in Rviz.
Developers choose MoveIt Visual Tools because it offers a streamlined way to visualize complex MoveIt internals, reducing debugging time and improving code comprehension. Its integration with rviz_visual_tools and support for both ROS and ROS2 make it a versatile tool for robotics visualization.
Helper functions for displaying and debugging MoveIt! data in Rviz via published markers
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Provides dedicated functions like publishCollisionBlock and cleanupCO for adding, removing, and displaying collision objects in the MoveIt planning scene, simplifying debugging of complex scenes.
Includes publishTrajectoryPath and publishTrajectoryPoint to animate robot trajectories and path points, making it easy to visualize and debug motion planning execution in Rviz.
Built on top of rviz_visual_tools, inheriting all its features, which ensures deep compatibility and extended visualization capabilities within the Rviz environment.
Supports both ROS and ROS2, as evidenced by separate build status badges and installation instructions, offering flexibility for modern robotics development.
Installation requires building from source, managing dependencies with vcs and rosdep, and sourcing workspaces, which can be cumbersome and error-prone for newcomers.
Limited to Rviz for visualization, making it unsuitable for projects using other tools like Gazebo or web-based interfaces, reducing versatility in heterogeneous environments.
The README primarily lists functions without in-depth examples or tutorials, relying on external API references that may require additional effort to fully utilize.