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robot-visualization

Visualization bridge for LimX robots — real-time RViz display and PlotJuggler data plotting for joint states, IMU, force sensors, and motion trajectories. Supports ROS 1 (Noetic) and ROS 2.

Directory Structure

.
|-- lib/              # Prebuilt runtime dependencies (by ROS distro and arch)
|-- ros1/             # ROS 1 (Noetic) launch, RViz config, and PlotJuggler config
|   |-- launch/       # .launch files for pointfoot and wheellegged robots
|   |-- rviz/         # .rviz config files
|-- ros2/             # ROS 2 launch, RViz config, and PlotJuggler config
|   |-- launch/       # .launch.py files for pointfoot robots
|   |-- rviz/         # .rviz config files
|-- CMakeLists.txt    # Build configuration
|-- package.xml       # ROS package manifest (package name: robot_visualization)
|-- LICENSE           # License file

Requirements

• ROS 1 (Noetic) or ROS 2
• RViz (included with ROS desktop installations)
• PlotJuggler (optional, for time-series data plotting)

Installation

cd <workspace>/src
git clone https://github.com/limxdynamics/robot-visualization.git
cd ..
catkin_make    # ROS 1
# or
colcon build   # ROS 2

Usage

Launch files are organized by robot type and mode. The _plot_ variants launch PlotJuggler for data plotting; the _rviz_ variants launch RViz for 3D visualization; _hw runs against real hardware, _sim against simulation.

Note on robot types: "pointfoot" covers SF (sole-foot) robots; "wheellegged" covers WF (wheel-foot) robots. These file names match the launch file naming used in this repository.

Note: ROS 2 currently only provides launch files for pointfoot robots. Wheellegged visualization is available under ROS 1; ROS 2 support is not yet included.

ROS 1 examples

source devel/setup.bash

# RViz visualization for pointfoot robot (hardware)
roslaunch robot_visualization pointfoot_rviz_hw.launch

# PlotJuggler data plotting for pointfoot robot (simulation)
roslaunch robot_visualization pointfoot_plot_sim.launch

ROS 2 examples

source install/setup.bash

# RViz visualization for pointfoot robot (hardware)
ros2 launch robot_visualization pointfoot_rviz_hw.launch.py

# PlotJuggler data plotting for pointfoot robot (simulation)
ros2 launch robot_visualization pointfoot_plot_sim.launch.py

Related Repositories

Repository	Description
tron1-rl-deploy-ros	TRON1 RL deployment (ROS)
tron1-rl-deploy-ros2	TRON1 RL deployment (ROS 2)
humanoid-rl-deploy-ros	Humanoid RL deployment (ROS)
humanoid-rl-deploy-ros2	Humanoid RL deployment (ROS 2)

License

Distributed under the included LICENSE file.