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Visualization of odometry msgs

asked 2011-08-11 19:09:42 -0500

Poseidonius gravatar image

updated 2011-08-11 19:34:11 -0500

Hi,

my question is related to the code of odometry msgs at http://www.ros.org/wiki/navigation/Tu...

How can I visualize a series of odometry msgs in rviz. How do I have to configure rviz to get a sequence of arrows illustrating path and velocity? If I start the small example together with rviz (fixed frame = /base_link) I see with target frame = <fixed frame=""> one stationary arrow?

Best wishes

Poseidonius

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answered 2011-08-12 02:45:20 -0500

Pi Robot gravatar image

Try setting your fixed frame to /odom or /map (if you have a map). In my setup, you won't see any movement of the arrow when the fixed frame is set to /base_link. I've attached a snapshot from RViz after rotating the robot through 360 degrees. Note that this is using the latest Diamondback debian packages. The latest Electric seems to have a bug wherein the arrow points straight down instead of horizontally.

--patrick

odom_rviz_diamondback.png

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I am using elctric and I see the odometry arrow pointing straight down. It is really a bug or do I write wrong code ?
Poseidonius gravatar imagePoseidonius ( 2011-08-14 03:42:41 -0500 )edit
Thanks patrik,
Poseidonius gravatar imagePoseidonius ( 2011-08-14 03:42:41 -0500 )edit
Thanks patrik,
Poseidonius gravatar imagePoseidonius ( 2011-08-14 03:42:43 -0500 )edit
It does seem to be a bug. I reported it here (https://code.ros.org/trac/ros-pkg/ticket/5120) and it has been confirmed by one other person (joq).
Pi Robot gravatar imagePi Robot ( 2011-08-14 04:03:44 -0500 )edit
Thanks for the ticket id ... I changed the line and enjoy correct visualization now !
Poseidonius gravatar imagePoseidonius ( 2011-08-18 09:58:01 -0500 )edit
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answered 2011-08-12 00:09:15 -0500

Hi!

In the "displays" window of rviz, try to set the "keep" field of the odometry message to a value greater than 1. This value indicates how many past iterations (past arrows) keep in the display.

bye,

andreu

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Thanks for this advice, but I have a 100 there.
Poseidonius gravatar imagePoseidonius ( 2011-08-12 01:04:29 -0500 )edit

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Asked: 2011-08-11 19:09:42 -0500

Seen: 1,957 times

Last updated: Aug 12 '11