urdf-viz

Visualize URDF(Unified Robot Description Format) file. urdf-viz is written by rust-lang.

Install

Pre requirements

If you have not installed ROS, you may need cmake, xorg-dev, glu to compile assimp-sys and glfw-sys.

$ sudo apt-get install cmake xorg-dev libglu1-mesa-dev

Install with cargo

If you are using rust-lang already and cargo is installed, you can install by cargo install.

bash $ cargo install urdf-viz

(FYI) Install cargo

bash $ curl https://sh.rustup.rs -sSf | sh

and follow the instruction of the installer.

Download binary from github

If you don't want to install rust and cargo, you can find binary urdf-viz for Ubuntu16.04/14.04 64bit here.

For example, if you want to use v0.1.2 and Ubuntu16.04,

bash $ wget https://github.com/OTL/urdf-viz/releases/download/v0.1.2/urdf-viz-0.1.2-ubuntu16.04-x86_64.tar.gz $ tar xvf urdf-viz-0.1.2-ubuntu16.04-x86_64.tar.gz $ ./urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

Build without assimp

assimp cannot be used on OSX or Windows. You can disable assimp by disable assimp feature which is enabled in default. It can handle .obj files even if you disable assimp.

$ cargo build --no-default-features

Command line

urdf-viz command will be installed. It needs rosrun and rospack to resolve package:// in <mesh> tag, and it uses xacro to convert .xacro file into urdf file. It means you need $ source ~/catkin_ws/devel/setup.bash or something before using urdf-viz.

bash $ urdf-viz URDF_FILE.urdf

It is possible to use xacro file directly. It will be converted by rosrun xacro xacro inside of urdf-viz.

bash $ urdf-viz XACRO_FILE.urdf.xacro

For other options, please read the output of -h option.

bash $ urdf-viz -h

GUI

In the GUI, you can do some operations with keyboard and mouse.

• Move a joint
  • set the angle of a joint by Up/Down key
  • Ctrl + Drag to move the angle of a joint
  • change the joint to be moved by [ and ]
• Inverse kinematics (only positions)
  • Shift + Drag to use inverse kinematics(Y and Z axis)
  • Shift + Ctrl + Drag to use inverse kinematics(X and Z axis)
  • change the move target for inverse kinematics by , and .
• r key to set random joints
• Move view point
  • Mouse Right Drag to translate view camera position
  • Mouse Left Drag to look around
  • Scroll to zoom in/out

Gallery

Dependencies

• kiss3d: urdf-viz is strongly depend on kiss3d, which is super easy to use, great 3D graphic engine.
• nalgabra: linear algebra library.
• k: kinematics library which is based on nalgabra. It can load URDF files using urdf-rs.
• assimp-rs: assimp rust interface. kiss3d supports .obj files natively, but urdf contains dae or stl files. These files are converted to kiss3d mesh model by assim-rs
• urdf-rs: URDF file loader.
• structopt: super easy command line arguments parser.