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== Documentation ==
Automatically import all entities simulated in [[gazebo_ros|ROS-enabled Gazebo]] or described in a set of SDF files into [[rviz]] through the [[rviz/DisplayTypes/TF|TF]] and [[rviz/DisplayTypes/Marker|Marker]] plugin. Furthermore add objects from a SDF as MoveIt collision objects.

This package contains the following (Python) nodes:
 * ''gazebo2tf_node.py'' translates /gazebo/link_states to TF in a hierarchical manner corresponding to SDF <include>.
 * ''gazebo2marker_node.py'' retrieves the current gazebo models from /gazebo/model_states, parses their corresponding SDF file and sends visualization_msgs/Marker messages for each link (either visual or collision) to /visualization_marker used by the rviz Marker plugin (fixed frame is gazebo_world). With this solution no plugin for either gazebo or rviz is required, only already available interfaces are used.
 * ''sdf2marker_node.py'' loads a specified SDF model and publishes it as rviz Marker. Note that an accordingly named TF must exist (e.g. {{{rosrun tf2_ros static_transform_publisher 0 0 0  0 0 0 1 world SDF_model_link_name}}}) or fixed frame adjusted.
 * ''sdf2tfstatic_node.py'' publish all relations between SDF links (according to model joints) to static TF.
 * ''sdf2extract_tfstatic_node.py'' publish a selected relation between two SDF links as static TF.
 * ''sdf2moveit_collision.py'' add objects from a SDF as MoveIt collision objects (with the ability to ignore submodels).

[[http://andreasbihlmaier.github.io/2014/02/19/gazebo2rviz.html|Here is a small usage example]]

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