move_joints_interactive, a package to move all the joints controller by joint_trajectory_controller using Rviz markers on each joint.
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By consulting ros_controllers list_controllers service we get all the controllers and the joints they control. For every joint we create a Interactive Marker with the mesh (if available) used for it and we attach a ROTATE_AXIS InteractiveMarkerControl to it hopefully aligned with the axis of rotation (Z axis in my tests, blue axe). When the Interactive Marker is moved the joint limits previously parsed are checked. If the joint is in a position between the joint limits a goal for the controller is created (by checking current joint states and overriding with the new value in the goal).
Once you run (yeah, I should rename the node):
rosrun move_joints_interactive node.py
You'll get a message saying something like:
Rviz configuration file created at: /home/YOUR_USER/nov_reemc_ws/src/move_joints_interactive/rviz/current_rviz.rviz
Just open a Rviz with that file:
rosrun rviz rviz -d /home/YOUR_USER/nov_reemc_ws/src/move_joints_interactive/rviz/current_rviz.rviz
And you will be able to play with it.
Should work with robots using ros_control and joint_trajectory_controller controllers (with topic /command interface).
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TODO:
- Check IK if the movement is safe (make it optional but enabled by default). Maybe add menu config to enable/disable also.
- Give other backend controllers (joint_states without controller like MoveIt!? also other controllers, I've only used joint_trajectory controllers) robot state publisher is who needs to be sent messages.
- Enable options to override sizes of markers and meshes.
- Make it work with other robots (pr2 initiated)
- Fix mesh parsing as links without visual tag crash the function