How to publish "real-time" trajectory using markers and Rviz

asked 2015-04-05 11:08:19 -0600

Pedro_85 gravatar image

I have a trajectory generator and I want to visualize it using Rviz. The marker publishing function obtains the coordinates from the main.cpp through geometry_msgs::Vector3 these are later converted to points and added to the marker data. I have tried with both Marker and MarkerArray and I am not able to visualize the markers. I am new to publishing markers in Rviz and I have based the code on the Points and Lines tutorial. I have included a cout command to make sure the information was being added to the Points data and I can see the information in the terminal window.

I am using Unbuntu 12.04 and Ros Fuerte. I have copied the algorithm below. I apologize for the Spanish text in it but it is for my thesis project. Also I appreciate any suggestions on how to improve it and make this code look better.



#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <tf/transform_broadcaster.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <Eigen/Core>

struct marcadores_trayectoria{
  void publicar_marcadores(const geometry_msgs::Vector3 coordenadas);

    pub_trayectoria = nh.advertise<visualization_msgs::MarkerArray>("trayectoria_array", 10 );
    pub_marcador = nh.advertise<visualization_msgs::Marker>("marcador_trayectoria", 10 );

  ros::NodeHandle nh;
  ros::Publisher pub_trayectoria, pub_marcador;

  tf::TransformBroadcaster br;
  geometry_msgs::Point puntos;



#include <planif_tray_ardrone/marcadores_tf.h>

using namespace std;

void marcadores_trayectoria::publicar_marcadores(const geometry_msgs::Vector3 coordenadas){

  visualization_msgs::MarkerArray lista_marcadores;
  visualization_msgs::Marker marcador;

  marcador.header.frame_id = "/world";
  marcador.ns = "trayectoria_ns";
  marcador.header.stamp = ros::Time::now();

  marcador.type = visualization_msgs::Marker::LINE_STRIP;
  marcador.action = visualization_msgs::Marker::ADD; = 404;

  marcador.scale.x = 1.0;

  marcador.color.a = 1.0;
  marcador.color.b = 1.0;

  marcador.pose.orientation.w = 1.0;

  puntos.x = coordenadas.x;
  puntos.y = coordenadas.y;
  puntos.z = coordenadas.z;

  cout << "puntos x: " << puntos.x << endl;

  if (pub_marcador.getNumSubscribers() > 0)

  if (pub_trayectoria.getNumSubscribers() > 0)

  ros::Rate r(30);

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Hello Pedro, did you find solution for this? I'm trying to plot a trajectory in real-time in rviz. and even I'm trying to find a way to estimate trajectory from 2-3 set of last coordinates. if you can guide me it will be great help.

regards, Prasanna

PKumars gravatar imagePKumars ( 2016-03-09 12:27:24 -0600 )edit

Hello, I am having the same exact problem, is the solution to this question available? Can you post the update code?

RayROS gravatar imageRayROS ( 2019-08-18 13:34:23 -0600 )edit