RHCViz package

Minimal tool to visualize Receding Horizon Control solutions on RViz in realtime.

Dependencies:

• ros2 Humble

• RViz2

• pyyaml

• numpy

• urdf_parser_py

• PerfSleep

• The tests run on two example robot description packages:

  • Aliengo1
  • Centauro

To run a simple test:

• first make sure to have installed all the required packages and to have sourced your ROS installation.
• run reset && python3 test_multirobot_visualization.py --robot_type aliengo in a terminal. This will wait for something to publish handshake data and RHC states and robot states.
• in another terminal run reset && python3 dummy_publisher_all.py --robot_type aliengo --n_rhc_nodes 5. This will publish handshake data (basically signaling the main scripts how many robots it should signal), constant base pose and random joint positions.

Note: it is up to the user to implement a bridge which connects its Receding Horizon Controller with RHCViz. By default, RHCViz uses some naming conventions for its bridge topics, defined in utils/namings.py. Example implementations of dummy bridges are provided in the test folder.