visualization_marker for gmapping
ı want to place a visual marker using odom message with gmapping. ı will add a marker tool on rviz but ı need a node as publishing this visualization_marker topic.
like this: http://i.imgur.com/qlmHR7X.png
how can ı do that ?
Asked by osmancns on 2015-07-06 08:14:04 UTC
Answers
It is not 100% clear to me what you are trying to achieve. What do you need the marker tool for?
If you just want to print out the way the robot took using only odometry (I assume this now), you need to write a node to subscribes to the odometry topic (or having a tf_listener getting the odom->base_link transform) which frequently publishes this transform in a respective display type. You can use a built-in type, as e.g. the Path type or create one following the tutorials here.
Asked by mgruhler on 2015-07-06 13:41:19 UTC
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I have a odom message from laser_scan_matcher with gmapping and no problem. But ı want to see path that robot is travelling on map. I intend to draw that robot has traveled on the path map (the trajectory) . I need node publishing visualization_msgs/Marker message type that holding x,y points array
Asked by osmancns on 2015-07-07 01:15:33 UTC
also how can I Place permanent visual marker on rviz. I see this tutorial but it is not draw a permanent points. http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines
Asked by osmancns on 2015-07-07 01:24:37 UTC
Okay, so basically my answer above will do what you want. You need a note that records and publishes what you want to show. I don't think it is possible to draw a persistent point. Either keep a record in the node, that you append new points to, or you have to write a new rviz display plugin
Asked by mgruhler on 2015-07-07 05:50:20 UTC
See this link for how to do this, but I don't think, this is what you would want. However, you could actually do everything in there, even though I'm not sure about the performance.
Asked by mgruhler on 2015-07-07 05:51:39 UTC
there is a video link here : https://www.youtube.com/watch?v=sieBqVxTz2c lidar travel and rviz draw a red trajectory behind of lidar. I intend this http://i.imgur.com/yca7lU4.png
Asked by osmancns on 2015-07-07 09:08:27 UTC
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