Add Hydroelastic Collision System #25
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Includes Drake C++ systems for tf2 broadcasting. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Greg Balke <greg@openrobotics.org>
…rake_ros_viz_hydroelastic
Signed-off-by: Greg Balke <greg@openrobotics.org>
Signed-off-by: Greg Balke <greg@openrobotics.org>
Signed-off-by: Greg Balke <greg@openrobotics.org>
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@gbalke can you retarget this PR at |
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To note, there is a big diff from bringing in lodepng which does the raw bitmap to image conversion before transmission to ROS. It's a pretty big file but it is a copy/paste. I don't know how you handle 3rd party libraries so that might be a point of discussion. |
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To run the whole setup, I'm using my drake-ros docker image https://github.com/gbalke/docker-drake-ros2-opengl After following setup instructions, make a ros workspace with drake-ros in it inside of the Finally, source the built workspace from within the docker bash environment and run: You should now see the following: Texture color will be added with the next rviz release. This is what it looks like when compiling rviz from source ( |
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@IanTheEngineer I'm updating my docker-drake-ros2-opengl repo to docker-ros2-opengl. I'm going to instead maintain branches with add-ins so the branch https://github.com/gbalke/docker-ros2-opengl/tree/ros2-drake will have the ros2-drake integration and the ros2 branch will just have ros2 (rolling). This way the work can be re-used for other integration projects. |
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Closing and continuing in #133 |
sloretz
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Apr 12, 2023
* Copy files from example Signed-off-by: Greg Balke <greg@openrobotics.org> * Matching adjusted drake-ros Signed-off-by: Greg Balke <greg@openrobotics.org> * Update changes to drake geometry API Signed-off-by: Greg Balke <greg@openrobotics.org> * Format with clang Signed-off-by: Greg Balke <greg@openrobotics.org> * .cpp/.hpp -> .cc/.h * Ressurect hydroelastic collisions demo Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Move to drake_ros_examples * Hydroelastic collisions separate from rviz visualizer * Remove unneeded variable * tf2_eigen dep is solely in drake_ros_viz * Strip drake visualizer stuff for now * Example is now a ball rolling down a hill * Follow rolling sphere * Marker namespace from body names * ConnectContactResultsToRviz and demo is now a slow super big ball * Namespace cleanup * Tweak resolution and timestep for faster demo * Misc cleanup * Get contact results from plant instead of scene graph * Add missing CMakeLists.txt * Two balls and Hydroelastic with fallback * Return of the body_names_ * Don't need Shapereifier interface * Visualize point contacts in RViz too * Make example about collisions, not just hydroelastic ones * General collisions example * Generic example for both point and hydroelastic contacts * Clang-format * drake_ros_viz linters pass * drake_ros_examples linters pass * Move lodpng.h * Depend on libgflags-dev * Set timestamp on markers and drop Pt| prefix * Default publish rate of 32Hz * Change view to avoid ros2/rviz#906 * Lifetime changes, file naming, drake-visualizer use * Separate function for color conversion * Clearer code creating line segment for visualizing point contacts * Misc fixes * Use drake_ros_core geometry conversions * lint fixes * get_graph_query_port -> get_graph_query_input_port * Fix code style * Use Geometry conversions * Fix linter * Merge branch 'main' into sloretz__gbalke__drake_ros_viz_hydroelastic * build and tests pass * Hash to tag * Examples builds and passes tests * Rename to hydroelastic * Bazelize hydroelastic example * Add bazel hydroelastic test * Remove copyright notice * Use sdformat file for defining scene (works with Bazel, untested with CMake) * Remove unused resolution_hint flag * Fix CMake build * Put code into a namespace * drake-visualizer -> meshcat * Document how to enable meshcat * Add TODO to make convert_color a public API * Add LeafSystem doxygen tags * Linting * Remove copyright notice and lint * Remove copyright notice * Fix copy/paste error in comment * Remove unnecessary public visibility * Add TODO for Python example * Removed copy/pasted parameters * Don't set maximum step size * Remove newline * xmllint --pretty 1 * Added TODO for making all geometries compliant * Use SimulatorConfig * Remove unused stuff * VTK instead of lodepng * GenerateHeatmapPng() * VisualizationConfig * Linter * depend on libvtk * libvtk9-dev * Merge branch 'main' into sloretz__gbalke__drake_ros_viz_hydroelastic * Update drake_ros namespace usage * Fix linters * Add ament_index_share_files * lint * clang-format * Clarify note about runfiles_manifest * Comment why using ament_index_share_files * Add note about overriding * Merge branch 'main' into sloretz__gbalke__drake_ros_viz_hydroelastic * Update comment Co-Authored-By: Greg Balke <greg@openrobotics.org>
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Builds off of #23. Adds hydroelastic collision visualization. The textures are not coming through on current rolling as 8.7.0 was released right before I added the textures. I can bump rviz maintainers to make a release soon if we want this in ASAP.
This change is