corlab / gazebo-trajectory-visualization-plugin Goto Github PK

What happens if the GzClient is loaded after newTrajectory... is called? My guess is that the plugin won't show anything.
We need to somehow take care of this because the default usage should be to configure the plugin via an .ops file.

the repository should be reorganized in a way similar to this:

gazebo-trajectory-visualization-plugin
├── CMakeLists.txt
├── LICENSE
├── README.md
├── src
│   ├── gazebo
│   │   └── trajectory_wp.cc
│   └── orocos
│       ├── orocos_trajectory_service.cpp
│       └── orocos_trajectory_service.hpp
└── example
    ├── gazebo
    │   ├── commander.cc
    │   └── worlds
    │       └── lines.world
    └── orocos
        └── scripts
            └── gazebo-trajectory-plugin-orocos-service-test.ops

Also the names should be a bit more verbose

Write an Orocos Service that exposes the same interface as the Gazebo plugin.

It should be possible to set a life cycle to the points in a trajectory visualization so that very old points automatically get deleted...
Or that a trajectory can have a fixed size n (that can be set through some operations etc...) and for each new point > n the oldest point gets deleted...
Something like that.

There should be a functionality to visualize a reference trajectory that the e.g. robot should follow and also a single point that represents the current target point.