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Loading a pre-computed trajectory
Description: How to use the generator node to load a stored trajectory.Tutorial Level: BEGINNER
This tutorial does not explain how to generate motion.
This tutorials aims at displaying pre-computed motion. There is no pattern generator algorithm in this package. See the other packages of this stack such as halfsteps_pattern_generator if you need to generate trajectories.
This tutorial explains how to use the generator node to load a precomputed trajectory.
Available trajectories
The following precomputed trajectories are available:
Download them and place it into any folder of your filesystem.
Displaying a precomputed trajectory
Then, execute the following commands:
1 # Start roscore if needed:
2 roscore
3
4 # Load the trajectories. Make sure that you change the path
5 # to match the trajectories location on your computer:
6 rosrun walk_msgs generator _yaml:=/path/to/short_walk.yaml
7
8 # Launch rviz
9 # This package provides a default configuration file to setup
10 # the display in rviz.
11 rosrun rviz rviz `rospack find walk_msgs`/walking_trajectories.vcg
After running the last command, rviz will start and display the computed trajectories.
