This ROS stack aims at providing various tools to use along mc_rtc. The GUI (mc_rtc_rviz_panel) can be built without ROS.
- mc_convex_visualization allows to publish the convex hulls of a robot as a polygon message that can be visualized in RViz
- mc_log_visualization is a tool to visualize logs generated by an mc_rtc controller
- mc_rtc_rviz_panel is an mc_rtc's GUI client that can be used inside RViZ
- mc_rtc_ticker provides an RViz interface to mc_rtc
- mc_surfaces_visualization allows to visualize a robot's surfaces within RViZ
This stack requires:
- mc_rtc: if building with ROS then the ROS plugin is required
- mc_rtc_msgs: required when building with ROS
- Qt: if building with ROS and RViz then the version that RViZ was built with; otherwise Qt4 and Qt5 are supported
- QWT version 6.1 or later for the corresponding Qt version
You must first setup our package mirror:
curl -1sLf \
'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
| sudo -E bash
You can also choose the head mirror which will have the latest version of this package:
curl -1sLf \
'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' \
| sudo -E bash
You can then install the package:
sudo apt install ros-${ROS_DISTRO}-mc-rtc-tools