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Hello everyone, i'm doing path planing,i want to show multiple planing paths using rviz at one time,but i find <nav_msgs::path> message can only be showed one planning path on rviz.How shoud i do?My multiple planing paths is stored in a vector like vector<nav_msgs::path> finalpath.Thanks for your help!!!
AFAIK, there are four easy ways for you.
i. publish each of path
If your paths isn't too much, I suggest you set name for each of path and publish that.
ii. marker array
Follow the Javier's answer.
iii. polygon array
Install jsk_rviz_plugins and then you will can be visualize polygon array type on RViz.
http://jsk-visualization.readthedocs....
iv. path array
Creating new display plugin for custom path array message like nav_msgs/Path[].
I am not sure if there is a better option, but most probably the solution is to convert from vector<nav_msgs::path> to a marker array using line strips or line lists.
More info here (sorry I cannot find the markerarray tutorial)
Asked: 2015-11-12 23:04:20 -0500
Seen: 3,608 times
Last updated: Aug 07 '21
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