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show robot trajectory in rviz real-time

asked 2015-05-14 14:09:09 -0500

crazymumu gravatar image

HI, I want to show UAV's trajectory in RVIZ in real time.
I am not sure I can use LINE_STRPS in visualization_msgs::Marker or PATH in nav_msgs/Path. The navigation algorithm was done by myself. I just want to show the trajectory, i am not sure which message to show path in rviz.
Thanks for your help.

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answered 2015-05-15 01:43:13 -0500

gvdhoorn gravatar image

updated 2015-05-15 01:45:19 -0500

Just to add to the options mentioned by others: you could perhaps also look at moveit_visual_tools by Dave Coleman. From README.md:

Animate Trajectories

Higher level robot and trajectory functions

  • publishTrajectoryPath
  • publishTrajectoryPoint
  • publishRobotState
  • publishAnimatedGrasps
  • publishIKSolutions

publishTrajectoryPath(..) would seem to fit with what you describe.

Edit: whether this would work obviously depends on what particular type of robot trajectory you are working with.

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thanks for your help

crazymumu gravatar imagecrazymumu ( 2015-05-15 10:42:21 -0500 )edit
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answered 2015-05-14 21:26:03 -0500

You can use the hector_trajectory_server package to conveniently generate a nav_msgs/Path message as described by Tom.

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thanks for your help

crazymumu gravatar imagecrazymumu ( 2015-05-15 10:42:30 -0500 )edit

It worked for me!

Bryant gravatar imageBryant ( 2019-05-22 00:01:38 -0500 )edit
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answered 2015-05-14 19:34:11 -0500

Tom Moore gravatar image

You can use the nav_msgs/Odometry message, but the pose is drawn as a series of arrows, and they can look a little clunky if you are only concerned with position and not orientation. In those cases, I tend to use the nav_msgs/Path type.

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thanks for your help

crazymumu gravatar imagecrazymumu ( 2015-05-15 10:42:10 -0500 )edit

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Asked: 2015-05-14 14:09:09 -0500

Seen: 6,738 times

Last updated: May 15 '15