This page is dedicated to the ros package ioclab_rviz_scenes.

Installation

Download the ioclab_rviz_scenes package:

 $ svn co svn+ssh://ris.upc.es/svnroot/iocros/ioclab_rviz_scenes

Dependencies

• [http://wris.ioc.upc.es/wiki/index.php/The_urdf_IOC_package ioc_urdf_models]
• [http://www.ros.org/wiki/joint_state_publisher joint_state_publisher]
• [http://www.ros.org/wiki/robot_state_publisher robot_state_publisher]
• [http://www.ros.org/wiki/rviz rviz]
• [http://www.ros.org/wiki/sensor_msgs sensor_msgs]

Test

To check if the installation is properly done do:

 $ cd (ioclab_rviz_scenes folder)/examples
 $ roslaunch two_staublitx90_kukalwr_scene.launch

You should see something like:

thumb|none|720x360px|alt=Ioclab rviz scenes IOC Laboratory scene.|The Robotics Laboratory in the IOC.?

You can play with the slides to change the configuration of the robots.

Check also the two staubli tx90 scene:

 $ roslaunch two_staublitx90_scene.launch

You can also do:

 $ rxgraph

to see the ROS connections between nodes:

thumb|none|360x180px|alt=Rxgraph Scheme.|Rxgraph Scheme.?

To see the tf transformations you can do:

 $ rosrun tf view_frames
 $ okular frames.pdf

Scenes: Topics and Services

Staubli TX90

(ioclab_rviz_scenes folder)/launch/staubli_tx90.launch

Subscribed Topics

/joint_states ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] )

Two Staubli TX90

(ioclab_rviz_scenes folder)/launch/two_staublitx90.launch

Subscribed Topics

{| class="wikitable" |- | scope="col" width="150" | Staubli TX90 1: | robot_1/joint_states_1 ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] ) |- | Staubli TX90 2: | robot_2/joint_states_2 ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] ) |}

Two Staubli TX90 and a KUKA Light Weight Robot

(ioclab_rviz_scenes folder)/launch/two_staublitx90_kukalwr.launch

Subscribed Topics

{| class="wikitable" |- | scope="col" width="200" | Staubli TX90 1: | robot_1/joint_states_1 ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] ) |- | Rail of Staubli TX90 2: | rail/joint_rail ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] ) |- | Staubli TX90 2: | robot_2/joint_states_2 ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] ) |- | KUKA LWR: | kukalwr/joint_kukalwr ( [http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html sensor_msgs/JointState] ) |}

Connecting the ioclab_rviz_scenes package to other nodes

If the nodes are launched using roslaunch, add the proper line at the end of the roslaunch/XML file, depending on the scene you want to load:

 <include file="'$(find ioclab_rviz_scenes)/launch/(scene).launch'"/>

Or simply load the scene manually, assuming the ROS master is ON:

 $ cd (ioclab_rviz_scenes folder)/launch
 $ roslaunch (scene).launch

And of course the topics and services will have to be properly connected.

Improvements (to be done)

Dimensions are approximate: need to be exactly setted.

Staubli's calibration.