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idyntree-yarp-visualizer

This module allows visualizing a robot starting from its URDF.

image

How to run

The module relies on a set of parameters. For each of them, a default value is specified, so the module can simply run with the command

idyntree-yarp-visualizer

By default, it looks for the robot URDF model with name model.urdf, searched according to the YARP_ROBOT_NAME. It will then trying to connect to the robot according to the list of joints reported in the model.

The configuration of the visualizer can be changed via configuration file or by command line arguments. Run the following command to have the full list of parameters and their default

idyntree-yarp-visualizer --help

Ports opened

By default, the idyntree-yarp-visualizer opens two ports

  • A RPC port for a basic interaction with the visualizer. By default, the port name is /idyntree-yarp-visualizer/rpc. Use the command help to get a list of possible commands. Run help <commandName> to get informations about a specific command.
yarp rpc /idyntree-yarp-visualizer/rpc
>>help
  • A port streaming the visualization output. By default, this port is named /idyntree-yarp-visualizer/image, and allows to see the visualizer output remotely.

According to the method adopted to connect to the robot, the module will open other ports for internal use.