CODEWITHSUNDEEP
pythonc++scenegraphdrake
Robert
Robert

Reputation: 11

Is there a way of visualizing a Drake SceneGraph in ROS RViz?

I am working on a project that uses a MultiBodyPlant and a SceneGraph in Drake. Is there a way of visualizing the links and joints of the plant in ROS RViz?

Upvotes: 1

Views: 163

Answers (1)

Eric Cousineau
Eric Cousineau

Reputation: 2004

Currently (as of 2020/05/11, drake@3cae4801), Rviz is not officially supported.

However, I have made a (hacky) example for ROS1 Rviz (Melodic, Python 2) using pydrake (Python 3) which you can see here:

EricCousineau-TRI/repro/ros/drake_ros1_hacks (permalink)

Please see the README for what the current issues are, how to try it out, etc. Here's a snippet:

README snippet

Upvotes: 2

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