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RViz - RobotModel -> base_link -> 'show trail' history

asked 2014-12-15 14:35:52 -0500

zaslon gravatar image

updated 2014-12-15 16:53:12 -0500

I'm trying to display the trail of my robot in RViz. I know that it's possible by publishing a visualization_msgs/Marker something like in this tutorial: Markers: Points and Lines (C++). However, at first I'd like to know if it's possible to do it easier way using display type RobotModel -> Links -> base_link -> show trail. Yes, it draws a path of my robot but only a small part of it - after a few seconds of driving the beginning is 'erased'. Is it possible to make the history/lifetime (not sure how to exactly call it) of my trail longer?

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answered 2014-12-16 02:18:55 -0500

There are a few options (such as implementing your own marker-based visualization or modifying the rviz plugin source to make the trail longer). However, I also required this functionality in the past, so I implemented the hector_trajectory_server package. It publishes the path of the robot as a nav_msgs/Path, which can be easily visualized using the corresponding rviz plugin.

The easiest way to get the package is to

sudo apt-get install ros-indigo-hector-slam

(replace indigo with your ros distro if it's not indigo)

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Thank you very much, it works perfectly!

zaslon gravatar imagezaslon ( 2014-12-16 02:38:29 -0500 )edit

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Asked: 2014-12-15 14:35:52 -0500

Seen: 781 times

Last updated: Dec 16 '14