glURDF

Tested on both Ubuntu 16.04 and 18.04.

glURDF is a graphical interface for visualizing robot models using URDF and OpenGL. This repository is based on learnopengl by Joey de Vries, extended to read urdf files. Please refer to this link for the license terms. glURDF supports not only visualizing the robot model but also animating the robot motion with given robot configurations.

Dependencies

glURDF depends on multiple packages and libraries. Please follow the procedure below to make sure you have installed all the dependencies.

• System tools

  sudo apt-get install g++ cmake git

• packages for graphical interfaces

  sudo apt-get install libsoil-dev libglm-dev libassimp-dev libglew-dev libglfw3-dev libxinerama-dev libxcursor-dev libxi-dev libboost-all-dev

• packages for reading urdf files

  In order to read urdf files, one has to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Either of them works fine. Below is the procedure for the second option.

  urdfdom depends on both console_bridge and urdfdom_headers. Follow all the command lines below to install all three packages.

  git clone git://github.com/ros/console_bridge.git && cd console_bridge
  mkdir build && cd build
  cmake ..
  make
  sudo make install

  git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers
  mkdir build && cd build
  cmake ..
  make
  sudo make install

  git clone git://github.com/ros/urdfdom && cd urdfdom
  mkdir build && cd build
  cmake ..
  make
  sudo make install

Setup

Clone the repository. To compile, it is recommended to create a separate build directory:

git clone https://github.com/daeunSong/glURDF.git && cd glURDF
mkdir build && cd build
cmake ..
make 

Demo

The demo uses the robot description files from fetch_ros, and talos-data. Make sure you have them in resources folder:

git clone https://github.com/fetchrobotics/fetch_ros.git resources/fetch_ros
git clone https://github.com/stack-of-tasks/talos-data.git resources/talos_data

To visualize the robot, run the script below:

cd build/bin
./glURDF

You can try visualizing different robots by changing the filepaths.

To run the demo of the talos robot motion, run the script below:

cd build/bin
./demo_talos [DEMO_SCENE]

Currently, ground, bridge, and stairs demo scenes are available.

Or just say hi to talos and fetch! 👋

cd build/bin
./demo_talos_say_hi
./demo_fetch_say_hi

Some keyboard inputs are available:

• WASD: camera movement
• Q: shadow ON/OFF
• arrow UP/DOWN: brightness of the light
• space bar: (only for the demo) replay the motion

Credit

• Daeun Song, Ewha Womans University