Xpp is a ROS package for the visualization of motion-plans for legged robots. It draws support areas, contact forces and motion trajectories in RVIZ and displays URDFs for specific robots, including a one-legged, a two-legged hopper and HyQ. More example motions can be seen in this video, generated by the library towr.
The recommended way to install is through the ROS binaries:
sudo apt-get install ros-<ros-distro>-xpp
In case you don't want to install from the ROS binaries, this package requires Eigen and ROS:
sudo apt-get install ros-<ros-distro>-desktop-full
sudo apt-get install libeigen3-dev
Then you can build the package in your catkin workspace
cd catkin_workspace/src
git clone https://github.com/leggedrobotics/xpp.git
cd ..
catkin_make
source ./devel/setup.bash
Make sure everything installed correctly by running the unit tests through
catkin_make run_tests
or if you are using catkin tools.
catkin build xpp_vis --no-deps --verbose --catkin-make-args run_tests
A few examples for different robots are provided in the xpp_examples
package, e.g.
xpp_examples/src/monoped_pub.cc. For starters, run
roslaunch xpp_examples hyq_bag.launch // or any other launch file in this package
Want to visualize your own robot, then checkout these instructions and we're happy to receive your pull-request. See here the list of contributors who participated in this project.
Alexander W. Winkler - Initial Work/Maintainer
The work was carried out at the following institutions:
If you use this work in an academic context, please cite as follows:
@misc{xpp_ros,
author = {Alexander W. Winkler},
title = {{Xpp - A collection of ROS packages for the visualization of legged robots}},
year = {2017},
doi = {10.5281/zenodo.1037901},
url = {https://doi.org/10.5281/zenodo.1037901}
}
Please report bugs, request features or ask questions using the Issue Tracker.