rviz 不发布相机主题

Question

我想让rviz上的机器人发布相机话题。而不是凉亭。因为我在 gazebo 中生成机器人时遇到了一些错误 platfrom.But 我不知道为什么在 rviz 平台上启动机器人不会发布相机主题。

<launch>

  <!-- specify the planning pipeline -->
  <arg name="pipeline" default="ompl" />

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find new_techman)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />

  <!-- By default, we will load or override the robot_description -->
  <arg name="load_robot_description" default="true"/>

  <!-- Set execution mode for fake execution controllers -->
  <arg name="execution_type" default="interpolate" />

  <!--
  By default, hide joint_state_publisher's GUI

  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
  The latter one maintains and publishes the current joint configuration of the simulated robot.
  It also provides a GUI to move the simulated robot around "manually".
  This corresponds to moving around the real robot without the use of MoveIt.
  -->
  <arg name="use_gui" default="false" />
  <arg name="use_rviz" default="true" />

  <!-- If needed, broadcast static tf for robot root -->


  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
  </node>
  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
  </node>

  <!-- Given the published joint states, publish tf for the robot links -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
  <include file="$(find new_techman)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="true"/>
    <arg name="execution_type" value="$(arg execution_type)"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="pipeline" value="$(arg pipeline)"/>
    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
  </include>

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <include file="$(find new_techman)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
    <arg name="rviz_config" value="$(find new_techman)/launch/moveit.rviz"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find new_techman)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>

这是我的 rviz 启动文件

Answer 1

But I don't know why launching the robot on the rviz platform does not publish the camera topic.

这很简单：因为 Rviz 是一个可视化 工具，最初并不是为模拟虚拟环境而设计的。换句话说：它可以向您展示机器人看到的东西，但它不会假装是机器人。发布相机主题基本上意味着 Rviz 中的可视化机器人假装自己看到了一些东西：Rviz 世界。

cause I am facing some error spawning the robot in gazebo platfrom.

除了 Rviz，Gazebo 是模拟机器人以及设计模拟机器人相机可以看到和发布的环境的非常好的选择。如果您在生成机器人时遇到问题，您可能应该寻找一种方法来解决该问题，而不是尝试将 Rviz 用作模拟工具。

但似乎确实有一种方法可以使用 Rviz 进行模拟，如所述 here:

rviz_camera_stream publishes an image rendered in rviz. It builds in jade at least, but likely works in hydro and indigo, and following the fork back leads to a pre-catkin version.

It needs an input camera_info to get camera intrinsics and resolution. The distortion coefficients are ignored, but a image_proc like node that implements http://code.opencv.org/issues/1387 could address that downstream. (Do gazebo cameras support distortion yet? http://gazebosim.org/tutorials?tut=ca... says version 5.0 does)

The input camera_info topic and output image topic are set in the rviz plugin gui.

Old suggestion:

One hacky solution is to run a screen grab node http://wiki.ros.org/screengrab_ros and position the rviz window just so, though it would be very brittle and hard to automate with launch files.

rviz 不发布相机主题

rviz not publishing the camera topic

ros