Visualize robot model with URDF
Proprioception of the robot based on its joint states is important for remote operators. It helps the operator understand the state as well as (along with pointclouds and semantic labels) provide more contextual awareness. To visualize the robot model with URDF (Universal Robot Description Format), there are two steps to be done in Formant.
Step 1: Create URDF .zip file
Create a new folder and add the .urdf file and all of its dependencies, such as .dea files. Zip that file for use in the next step.
Step 2: Upload the URDF .zip file in Device Settings
To upload URDF file, go to the device page (or to the corresponding configuration template)
|From the burger menu select Settings⇒ Devices ⇒ to edit the device|
Under the General tab, go to URDF section -> Add URDF
Choose the URDF .zip file from your local machine. This file gets uploaded to the Formant Cloud Files.
Step 3: Configure teleoperation view to include URDF
Once the URDF file is uploaded, go to the teleoperation tab on the same device. There are two items that should be completed on this tab.
1. Add the joint state ROS topic as a stream.
|Click on JOINT STATE to add new joint state ROS topic.|
2. Add the stream to the Primary view