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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.
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.
You can use the hector_trajectory_server package to conveniently generate a nav_msgs/Path message as described by Tom.
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.
Asked: 2015-05-14 14:09:09 -0600
Seen: 13,521 times
Last updated: May 15 '15
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