FauxPose ILLIXR plugin
Summary
The FauxPose ILLIXR plugin generates "fast_pose" data from a simple
mathematical algorithm (circular movement). The intent is for use when
debugging other plugins and the developer wants a known pose trajectory
without having to configure actual tracking.
The movement is hard-coded to be on the Y=center.y plane, with the X and Z values set to rotate in a circle. The period and amplitude of the movement are have default values (0.5, and 2.0 respectively) that can be changed through environment variables.
Topic details:
- *Publishes* `pose_position` on `fast_pose` topic.
Usage
The "FauxPose" plugin must be included in the YAML configuration file prior to any rendering plugin (such as "debugview" or "gldemo"). Also no other pose-generating plugin should be included. (In the standard configuration this requires removing the "rt_slam_plugins" -- usually by commenting out the line: #- !include "rt_slam_plugins.yaml"
And then adding FauxPose as a plugin: - path: fauxpose/
An example "faux.yaml" configuration file is included as an example.
By default, the "orbit" of the tracked position will be about the point
(0.0, 1.5, 0.0), with a default amplitude of "2.0", and period of "0.5"
seconds, with the orientation facing the negative-X direction. The first
three of these values can be overridden through environment variables:
* FAUXPOSE_PERIOD=