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Finally, I have used a combination of two packages that are provided by ROS. On one hand I have used a RViz plugin example for creating a new plugin on Rviz interface. The example that I took is plant_flag_tool in rviz_plugin_tutorials package. Once I have a button in Rviz menu, I have created a custom interactive marker which is capable of move in XY plane and rotate in Z. By this way is possible to send a position and orientation to the path planner. Each time that the user presses the button plugin on Rviz menu a new custom marker (new goal) is created.