Usage

When connected to a ROS network running Husky, launch rviz and the marker server together:

roslaunch husky_viz view_robot.launch

If you want to launch only the markers without an rviz instance:

roslaunch husky_interactive_markers interactive_markers.launch

Markers should appear around Husky in running rviz instances. Click and drag them to send velocity command messages.

Nodes

marker_server

Creates an interactive marker server to allow the user to control the Husky base through rviz

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Husky commanded velocity topic.

Parameters

~link_name (string, default: /base_link)
  • tf frame to center the interactive markers around
~linear_scale (double, default: 1.0)
  • Value to scale translation input by to convert to velocity
~angular_scale (double, default: 2.2)
  • Value to scale rotational input by to convert to angular velocity

Nodes

husky_marker_server

Creates an interactive marker server to allow the user to control the Husky base through rviz

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Husky commanded velocity topic.

Parameters

~link_name (string, default: /base_link)
  • tf frame to center the interactive markers around
~linear_scale (double, default: 1.0)
  • Value to scale translation input by to convert to velocity
~angular_scale (double, default: 2.2)
  • Value to scale rotational input by to convert to angular velocity

Wiki: husky_interactive_markers (last edited 2013-10-04 13:14:27 by MikePurvis)