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visualization_marker for gmapping

asked 2015-07-06 08:14:04 -0500

osmancns gravatar image

updated 2015-07-06 08:14:38 -0500

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:

how can ı do that ?

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answered 2015-07-06 13:41:19 -0500

mgruhler gravatar image

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.

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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

osmancns gravatar image osmancns  ( 2015-07-07 01:15:33 -0500 )edit

also how can I Place permanent visual marker on rviz. I see this tutorial but it is not draw a permanent points.

osmancns gravatar image osmancns  ( 2015-07-07 01:24:37 -0500 )edit

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

mgruhler gravatar image mgruhler  ( 2015-07-07 05:50:20 -0500 )edit

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.

mgruhler gravatar image mgruhler  ( 2015-07-07 05:51:39 -0500 )edit

there is a video link here : lidar travel and rviz draw a red trajectory behind of lidar. I intend this

osmancns gravatar image osmancns  ( 2015-07-07 09:08:27 -0500 )edit

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Asked: 2015-07-06 08:14:04 -0500

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Last updated: Jul 06 '15