alexandrelheinen / vector-view Goto Github PK

Create a stable version of the VectorView plugin.

As observed, the output from vector view is very noisy but the overall result sounds really coherent, just it looks like this noise can be easily filtered.

Using DSPFilters project (https://github.com/vinniefalco/DSPFilters), the next step is to implement an efficient filtering for those signals.

DSPFilters is already included and automatically downloaded from official Github repository by CMakeLists since the last update.

Create an interface, for instance, to spawn objects in Gazebo 4. It would be useful to add objects during the simulation.

It should be something similar to this example which uses a GUI Plugin. However GUI Plugins are only available in Gazebo 5+ and, to keep compatibility with Ubuntu Precise 12.04, we are using Gazebo 4, so a QTApplication should be launched (maybe).

The last time I tried (see ICubStage and Interface classes in old_plugins folder), the QTApplication blocked Gazebo client execution. I don't know what is causing this problem, but the next step is to find a way to launch both QTApplication and Gazebo client in parallel.

This world plugin would be also useful to display contacts informations, once the VectorView class only displays a vector.

When VectorView is installed in a new computer, Gazebo crashes when it loads robot.world. The crash occurs just after the Load function, a print insert at the end of this function is displayed on the terminal.

This bug is surely caused by libvectorview.so because when I remove the plugins, vectorGUI runs perfectly.

Some remarks:

• if we comment the Load function content, the bug still occurring;
• if we comment the FindName function, making it to return an empty std::vector<std::string>(3) value, gazebo starts normally (no crash).

I don't know what is causing it but the fact that the bug disappears when FindName is empty lead me to thing that it's an compilation problem.

PS: this only happens in one PC, in all others that I tried, the plugin worked fine.