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RVIZ trace robot path

asked 2014-05-29 06:38:24 -0600

Sentinal_Bias gravatar image


I have a bagfile with tf transforms containing /body frames

Is it possible to trace the path of the body frame in RVIZ?

kind of like in this tutorial, but I want to see a line the turtle followed in RVIZ,rather than a line to the transform...

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answered 2014-05-29 07:42:20 -0600

hector_trajectory_server does what you request. See also this other older Q/A.

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answered 2014-05-29 07:36:19 -0600

tfoote gravatar image

The easiest thing to do is publish something to be rendered in rviz such as a Pose or Point at (0,0,0) in the /body frame and turn up the decay time.

If you want to do it in a way that is persistent and recordable the quickest thing to do will be to write a quick python node which records the points and then renders a Polygon path such as the planners and updates it each time the path is resampled.

All messages are in geometry_msgs

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Asked: 2014-05-29 06:38:24 -0600

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Last updated: May 29 '14